JP6815211B2 - Panel transfer robot - Google Patents

Description

The present invention relates to a panel transfer robot that conveys a display panel such as a liquid crystal panel.

Conventionally, a transfer device incorporated in an assembly line of a liquid crystal display device used in a portable device or the like is known (see, for example, Patent Document 1). The transport device described in Patent Document 1 includes five transport units, and various steps in the assembly process of the liquid crystal display device are assigned to each transport unit. Further, this transfer device includes an automatic loader that supplies the liquid crystal panel housed in the tray to the transfer unit (see FIG. 19 of Patent Document 1). A plurality of liquid crystal panels are housed in the tray. The automatic loader grips the liquid crystal panel housed in the tray and supplies it to the positioning jig on the rotary index. Further, the automatic loader supplies the liquid crystal panels housed in the tray one by one to the positioning jig.

International Publication No. 2012/120956

In the assembly line of the liquid crystal display device described in Patent Document 1, the liquid crystal panel that should be accommodated in the predetermined portion of the tray is not accommodated in the predetermined portion of the tray for some reason, and is contained in the tray. The panel may be missing. That is, in the assembly line of this liquid crystal display device, the panel may be missing in the tray. In this case, even if the automatic loader tries to grip the liquid crystal panel at a predetermined position on the tray, the liquid crystal panel cannot be gripped, so that an error may occur and the automatic loader may stop.

Therefore, an object of the present invention is to continue the operation of the panel transfer robot that carries out the display panel accommodated in the tray capable of accommodating a plurality of display panels even if the panel is pulled out in the tray. The purpose is to provide a panel transfer robot capable of the above.

In order to solve the above problems, the panel transfer robot of the present invention includes a panel grip portion that grips the display panel and a panel transfer robot that carries out the display panel housed in a tray capable of accommodating a plurality of display panels. The panel grip portion is provided with a moving mechanism for moving the panel grip portion, the panel grip portion is provided with a panel detection mechanism for detecting the presence or absence of the display panel in the tray, and the panel detection mechanism emits light toward the display panel in the tray. It is an optical detection mechanism that has a light emitting unit that emits light and a light receiving unit that is arranged at a position where light reflected by the display panel can be received, and when the panel gripping unit tries to grip the display panel in the tray. Detecting the presence or absence of the display panel , the panel transfer robot continues to move to another location in the tray if the panel detection mechanism does not detect the display panel when the panel gripping unit tries to grip the display panel in the tray. It is characterized by performing an operation for gripping the housed display panel .

In the panel transfer robot of the present invention, the panel grip portion that grips the display panel includes a panel detection mechanism for detecting the presence or absence of the display panel in the tray, and the panel detection mechanism has the panel grip portion in the tray. Detects the presence or absence of the display panel when trying to grip the display panel. Therefore, in the present invention, if the display panel is detected by the panel detection mechanism when the panel gripping portion tries to grip the display panel in the tray, the panel transfer robot is allowed to continue the gripping operation of the display panel as it is. Will be possible. In the present invention, omission panels in trays have occurred, the display panel by the panel detection mechanism when the panel gripper attempts to grip the panel in the tray yarn such is detected, the panel transfer robot , Subsequently, the operation for gripping the display panel housed in another place in the tray is performed . Therefore, according to the present invention, the operation of the panel transfer robot can be continued even if the panel is pulled out in the tray.

Further, in the present invention, the panel detection mechanism is an optical type having a light emitting unit that emits light toward the display panel in the tray and a light receiving unit that is arranged at a position where the light reflected by the display panel can be received. It is a detection mechanism of. Further, in general, the surface of the display panel is a glass surface, and the tray is made of resin, so that the surface of the tray is rougher than the surface of the display panel. Therefore, in the present invention, when the display panel to be gripped by the panel gripping portion is in the tray, the light emitted from the light emitting portion and mirror-reflected on the surface of the display panel is incident on the light receiving portion. On the other hand, when the display panel to be gripped by the panel gripping portion is not in the tray, for example, the light emitted from the light emitting portion and diffusely reflected on the surface of the tray is incident on the light receiving portion. Therefore, in the present invention, the amount of light received by the light receiving portion tends to differ depending on whether the display panel to be gripped by the panel gripping portion is in the tray or not, and as a result, the display panel in the tray It becomes possible to appropriately detect the presence or absence.

In the present invention, the panel detection mechanism is a retroreflective type having a light emitting / receiving unit having a light emitting unit and a light receiving unit, and a reflecting member having a light emitting unit and a reflecting member that reflects light emitted from the light emitting unit and reflected by the display panel toward the display panel. It is an optical detection mechanism, and it is preferable that the light receiving portion is arranged at a position where the light reflected by the display panel after being reflected by the reflecting member can be received.

With this configuration, when the display panel to be gripped by the panel gripping portion is in the tray, the light emitted from the light emitting portion is mirror-reflected twice on the surface of the display panel and then on the light receiving portion. Incident. On the other hand, when the display panel to be gripped by the panel gripping portion is not in the tray, for example, the light emitted from the light emitting portion is diffusely reflected twice on the surface of the tray and then incident on the light receiving portion. Therefore, even if the distance between the display panel housed in the tray and the portion of the tray irradiated with light from the light emitting portion in the thickness direction of the display panel is short, the panel gripping portion tries to grip the tray. The amount of light received by the light receiving unit tends to differ depending on whether the display panel is in the tray or not. Therefore, even if the distance between the display panel housed in the tray and the portion of the tray that is irradiated with light from the light emitting portion in the thickness direction of the display panel is short, the presence or absence of the display panel in the tray is determined. It becomes possible to detect appropriately.

In the present invention, the panel grip portion includes a panel suction portion that attracts the display panel and a base member to which the panel detection mechanism and the panel suction portion are attached, and the light emitting / receiving portion and the reflection member are orthogonal to each other in the vertical direction. It is preferable that they are arranged so as to sandwich the panel suction portion in one direction and are attached to both ends of the base member in the first direction.

With this configuration, it is possible to increase the angle of incidence of the light emitted from the light emitting unit on the display panel. Therefore, even if the vertical distance between the display panel housed in the tray and the portion of the tray that is irradiated with the light from the light emitting portion is short, the display panel that the panel gripping portion tries to grip is the tray. The amount of deviation between the optical axis of the light reflected by the display panel when it is inside and the optical axis of the light reflected by the tray when the display panel that the panel gripping part tries to grip is not in the tray is large. As a result, it is possible to increase the amount of deviation of the optical axis of the light incident on the light receiving portion. Therefore, even if the vertical distance between the display panel housed in the tray and the portion of the tray that is irradiated with the light from the light emitting portion is short, the display panel that the panel gripping portion tries to grip is the tray. A large difference is likely to occur depending on the amount of light received by the light receiving unit depending on whether it is inside or not, and it becomes possible to more appropriately detect the presence or absence of the display panel in the tray.

In the present invention, the panel grip portion includes a panel suction portion that attracts the display panel, and a base member to which the panel detection mechanism and the panel suction portion are attached, and the light receiving portion is ejected from the light emitting portion and reflected by the display panel. It is arranged at a position where it can receive light, and the light emitting part and the light receiving part are arranged so as to sandwich the panel suction part in the first direction orthogonal to the vertical direction, and both ends of the base member in the first direction, respectively. It may be attached to.

Even in this case, it is possible to increase the angle of incidence of the light emitted from the light emitting unit on the display panel. Therefore, even if the vertical distance between the display panel housed in the tray and the portion of the tray that is irradiated with the light from the light emitting portion is short, the display panel that the panel gripping portion tries to grip is the tray. The amount of deviation between the optical axis of the light reflected by the display panel when it is inside and the optical axis of the light reflected by the tray when the display panel that the panel gripping part tries to grip is not in the tray is large. As a result, it is possible to increase the amount of deviation of the optical axis of the light incident on the light receiving portion. Therefore, even if the vertical distance between the display panel housed in the tray and the portion of the tray that is irradiated with the light from the light emitting portion is short, the display panel that the panel gripping portion tries to grip is the tray. The amount of light received by the light receiving unit tends to differ depending on whether it is inside or not, and it is possible to appropriately detect the presence or absence of the display panel in the tray.

In the present invention, the angle of incidence of the light emitted from the light emitting unit on the display panel is preferably 45 ° or more and less than 90 °. In this case, the incident angle is, for example, approximately 65 °. With this configuration, even if the distance between the display panel housed in the tray and the portion of the tray that is irradiated with the light from the light emitting portion in the thickness direction of the display panel is short, the panel grip portion can be formed. The optical axis of the light reflected by the display panel when the display panel to be gripped is in the tray, and the light reflected by the tray when the display panel to be gripped by the panel gripping part is not in the tray. It is possible to increase the amount of deviation from the optical axis of the light, and as a result, it is possible to increase the amount of deviation of the optical axis of the light incident on the light receiving portion. Therefore, even if the distance between the display panel housed in the tray and the portion of the tray irradiated with light from the light emitting portion in the thickness direction of the display panel is short, the panel gripping portion tries to grip the tray. The amount of light received by the light receiving unit tends to differ depending on whether the display panel is in the tray or not, and the presence or absence of the display panel in the tray can be appropriately detected.

In the present invention, it is preferable that the panel grip portion includes a panel suction portion that sucks the display panel and a wiring suction portion that sucks the wiring drawn from the display panel. With this configuration, since the panel gripping portion includes a wiring suction portion that attracts the wiring drawn from the display panel in addition to the panel suction portion that attracts the display panel, the wiring such as the FPC is pulled out from the display panel. Even if this is the case, it is possible to suppress the wobbling of the wiring when transporting the display panel.

In the present invention, the panel transfer robot uses the first pressure sensor for detecting whether or not the display panel is attracted to the panel suction portion based on the suction pressure of the panel suction portion, and the suction pressure of the wiring suction portion. It is preferable to provide a second pressure sensor for detecting whether or not the wiring is attracted to the wiring suction portion based on the above. With this configuration, after the display panel is detected by the panel detection mechanism, it is confirmed that the display panel is attracted to the panel suction portion by the first pressure sensor, and the wiring is performed by the second pressure sensor. After confirming that the wiring is attracted to the suction portion, the panel grip portion enables the display panel to be carried out from the tray. Therefore, the display panel can be carried out from the tray while the display panel and the wiring are securely gripped by the panel gripping portion.

As described above, in the present invention, in the panel transfer robot that carries out the display panel accommodated in the tray capable of accommodating a plurality of display panels, even if the panel is missing in the tray, the panel transfer robot It becomes possible to continue the operation.

It is a side view of the transfer system in which the panel transfer robot according to the embodiment of the present invention is incorporated. It is a top view which shows the transport system from the EE direction of FIG. It is a perspective view of the panel transfer robot shown in FIG. It is a perspective view of the supply unit shown in FIG. It is a perspective view of the panel gripping part of the panel transfer robot shown in FIG. It is a perspective view which shows the panel grip part shown in FIG. 5 from another direction. It is a perspective view which shows the wiring suction part and the position adjustment mechanism shown in FIG. 5 from the lower side. It is a figure for demonstrating the path of the pipe connected to the panel suction part and the wiring suction part shown in FIG. It is the schematic for demonstrating the structure of the panel detection mechanism shown in FIG. It is a flowchart for demonstrating the gripping operation of the display panel by the panel gripping part shown in FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Overall configuration of transport system)
FIG. 1 is a side view of a transfer system 1 in which a panel transfer robot 9 according to an embodiment of the present invention is incorporated. FIG. 2 is a plan view showing the transport system 1 from the EE direction of FIG. FIG. 3 is a perspective view of the panel transfer robot 9 shown in FIG. FIG. 4 is a perspective view of the supply unit 11 shown in FIG.

The panel transfer robot 9 of this embodiment (hereinafter referred to as “robot 9”) is a robot that conveys the liquid crystal panel 2 which is a display panel. The robot 9 is used by being incorporated in the transfer system 1. The transport system 1 is incorporated in a production line for a liquid crystal display used in a mobile device or the like. The transport system 1 transports the liquid crystal panel 2 and supplies the liquid crystal panel 2 to a processing device 14 (see FIG. 2) that performs a predetermined process on the liquid crystal panel 2.

The liquid crystal panel 2 is formed in a rectangular flat plate shape. The thickness of the liquid crystal panel 2 is about 1 (mm). Data such as inspection data of the liquid crystal panel 2 is recorded in a portion of the liquid crystal panel 2 outside the display area. The data recorded in the portion of the liquid crystal panel 2 outside the display area is optically readable data. A driver IC is mounted on the liquid crystal panel 2 transported by the transport system 1 of the present embodiment. Further, FPC2a (FIG. 8) as wiring is connected to the liquid crystal panel 2. That is, the FPC 2a, which is a wiring board, is pulled out from the liquid crystal panel 2. The FPC 2a is drawn out from one short side of the liquid crystal panel 2 formed in a rectangular flat plate shape in a direction parallel to the long side, for example. In addition, in FIG. 2 and the like, the illustration of FPC2a is omitted.

The transport system 1 includes two conveyors 4 and 5 that transport the tray 3 capable of accommodating the liquid crystal panel 2. The tray 3 is made of resin. A plurality of liquid crystal panels 2 can be accommodated in the tray 3. The liquid crystal panel 2 is housed in the tray 3 so that the thickness direction and the vertical direction (vertical direction) of the liquid crystal panel 2 coincide with each other. The plurality of liquid crystal panels 2 housed in the tray 3 are housed in the tray 3 in a state where they do not overlap each other. The conveyors 4 and 5 linearly convey the trays 3 (stacked trays 3) stacked in a plurality of stages in the horizontal direction.

In the following description, the transport direction of the tray 3 by the conveyors 4 and 5 (X direction in FIG. 1 and the like) is defined as the "front-back direction", and the direction orthogonal to the vertical direction (vertical direction) and the front-back direction (Y in FIG. 1 and the like). Direction) is defined as "left-right direction". Further, one side in the front-rear direction (X1 direction side in FIG. 1 etc.) is defined as the "front" side, the opposite side (X2 direction side in FIG. 1 etc.) is defined as "rear side", and one side in the left-right direction (FIG. 2). Etc. (Y1 direction side) is the "right" side, and the opposite side (Y2 direction side in FIG. 2 etc.) is the "left" side. In this embodiment, the processing device 14 is arranged behind the transport system 1.

Further, the transport system 1 includes two tray stages 6 and 7 on which the tray 3 is placed, a robot 8 that transports the tray 3 between the conveyors 4 and 5 and the tray stages 6 and 7, and a tray stage 6. The robot 9 is provided with the robot 9 for carrying out the liquid crystal panel 2 from the tray 3 mounted on the tray 3, and a supply unit 11 for receiving the liquid crystal panel 2 from the robot 9 and supplying the liquid crystal panel 2 to the processing device 14. The tray stages 6 and 7 are arranged behind the conveyors 4 and 5. The supply unit 11 is arranged behind the tray stages 6 and 7.

Further, the transfer system 1 includes a main body frame 12 in which the conveyors 4 and 5, tray stages 6 and 7, the robot 8 and the supply unit 11 are installed, and a main body frame 13 in which the robot 9 is installed. The upper surface of the main body frame 12 is formed in a plane shape orthogonal to the vertical direction, and the conveyors 4 and 5, the tray stages 6 and 7, the robot 8 and the supply unit 11 are installed on the upper surface of the main body frame 12. .. The main body frame 13 is a gate-shaped frame formed in a substantially gate shape, and is installed so as to straddle the rear end side portion of the main body frame 12 in the left-right direction. The robot 9 is installed on the upper surface of the main body frame 13.

Conveyors 4 and 5 are roller conveyors including a plurality of rollers. The conveyor 4 and the conveyor 5 are arranged adjacent to each other in the left-right direction. The conveyor 4 conveys the stacked trays 3 toward the rear side, and the conveyor 5 conveys the stacked trays 3 toward the front side. A plurality of liquid crystal panels 2 are housed in the tray 3 conveyed by the conveyor 4. On the other hand, the liquid crystal panel 2 is not housed in the tray 3 conveyed by the conveyor 5, and the tray 3 conveyed by the conveyor 5 is an empty tray.

On the front end side of the conveyor 4, a stacked tray 3 carried by an operator from a temporary storage shelf (not shown) is placed. The stacked trays 3 placed on the front end side of the conveyor 4 are conveyed to the rear side, and the stacked trays 3 conveyed to the rear end side of the conveyor 4 are staged by the robot 8 as described later. Be disassembled. Further, on the rear end side of the conveyor 5, empty trays 3 are stacked by the robot 8 as described later. When the trays 3 are stacked up to a predetermined number of stages, the trays 3 in the stacked state are conveyed to the front side. The stacked trays 3 transported to the front end side of the conveyor 5 are transported by the operator to the empty tray shelves.

One tray 3 is placed on the tray stages 6 and 7. The tray stage 6 and the tray stage 7 are arranged at a predetermined distance in the left-right direction. The tray stage 6 is arranged at substantially the same position as the conveyor 4 in the left-right direction, and the tray stage 7 is arranged at substantially the same position as the conveyor 5 in the left-right direction. The upper surfaces of the tray stages 6 and 7 are formed in a plane shape orthogonal to the vertical direction.

The robot 8 is a so-called 3-axis Cartesian robot. The robot 8 has a main body frame 15 formed in a gate shape, a movable frame 16 held by the main body frame 15 so as to be able to slide in the left-right direction with respect to the main body frame 15, and a movable frame 16. A movable frame 17 held by the movable frame 16 so as to be able to slide in the front-rear direction, and a movable frame 18 held by the movable frame 17 so as to be able to slide in the vertical direction with respect to the movable frame 17. And a tray gripping portion 19 attached to the movable frame 18. Further, the robot 8 includes a drive mechanism for sliding the movable frame 16 in the left-right direction, a drive mechanism for sliding the movable frame 17 in the front-rear direction, and a drive mechanism for sliding the movable frame 18 in the up-down direction.

The main body frame 15 is installed so as to straddle the conveyors 4 and 5 in the left-right direction. The movable frame 16 is attached to the upper surface side of the main body frame 15. The movable frame 16 is arranged above the tray 3 in a stacked state mounted on the conveyors 4 and 5. The movable frame 17 is attached to the right side of the movable frame 16. The movable frame 18 is attached to the rear end side of the movable frame 17. The tray grip portion 19 is attached to the lower end of the movable frame 18. The tray gripping portion 19 includes a plurality of suction portions that suck and grip the tray 3.

The robot 8 transfers the tray 3 from the conveyor 4 to the tray stages 6 and 7 and the tray 3 from the tray stages 6 and 7 to the conveyor 5. Specifically, the robot 8 conveys the stacked trays 3 conveyed to the rear end side of the conveyor 4 to the tray stage 6 or the tray stage 7 one by one, and the stacked trays on the conveyor 4. Step 3 out. Further, the robot 8 conveys one empty tray 3 from the tray stage 6 or the tray stage 7 to the rear end side of the conveyor 5, and stacks the tray 3 on the conveyor 5.

The robot 9 is a so-called parallel link robot. The robot 9 has a main body 20, three levers 21 connected to the main body 20, three arm parts 22 connected to each of the three levers 21, and three arm parts 22. A head unit 23 to be connected and a panel gripping portion 24 (see FIG. 5 and the like) for gripping the liquid crystal panel 2 are provided. The robot 9 is installed so as to hang from the upper surface of the main body frame 13. Further, the main body portion 20 is arranged above the tray stages 6 and 7, and is arranged behind the main body frame 15 of the robot 8. Note that in FIGS. 1 and 3, the panel grip portion 24 is not shown.

The three levers 21 are connected to the main body 20 so as to extend substantially radially toward the outer peripheral side of the main body 20 at substantially equal angle pitches. That is, the three levers 21 are connected to the main body 20 so as to extend substantially radially toward the outer peripheral side of the main body 20 at a pitch of about 120 °. Further, the base end side of the three levers 21 is rotatably connected to the main body portion 20. A motor 25 with a speed reducer for rotating the lever 21 is arranged at the connecting portion between the main body 20 and the lever 21. The robot 9 of this embodiment includes three motors 25 that rotate each of the three levers 21. The output shaft of the motor 25 is fixed to the base end side of the lever 21.

The base end side of the arm portion 22 is rotatably connected to the tip end side of the lever 21. Specifically, the arm portion 22 is composed of two linear arms 26 parallel to each other, and the base end side of each of the two arms 26 is rotatably connected to the tip end side of the lever 21. ing. The head unit 23 is rotatably connected to the tip side of the three arm portions 22. A motor 27 is attached to the upper end of the head unit 23.

The panel grip portion 24 is attached to the lower end of the head unit 23. Further, the panel grip portion 24 is connected to the motor 27, and can be rotated with the vertical direction as the axial direction of rotation by the power of the motor 27. In this embodiment, the main body portion 20, the three levers 21, the three arm portions 22, the head unit 23, the three motors 25, and the motor 27 constitute a moving mechanism 28 for moving the panel grip portion 24. There is. The specific configuration of the panel grip portion 24 will be described later.

In the robot 9, by individually driving the three motors 25, the head unit 23 remains in a constant posture at any position in the vertical direction, the horizontal direction, and the front-rear direction within a predetermined area. (Specifically, with the panel gripping portion 24 facing downward), the head unit 23 can be moved. The robot 9 carries out the liquid crystal panels 2 housed in the trays 3 on the tray stages 6 and 7 one by one. Specifically, the robot 9 carries out the liquid crystal panels 2 one by one from the tray 3 until the tray 3 on the tray stages 6 and 7 is empty. Further, the robot 9 conveys the liquid crystal panel 2 carried out from the tray 3 to the panel stage 39 described later.

The supply unit 11 includes an alignment device 30 for aligning the liquid crystal panel 2, and a data reading device 31 for reading the data recorded on the liquid crystal panel 2. The alignment device 30 aligns the liquid crystal panel 2 before the data of the liquid crystal panel 2 is read by the data reading device 31. Further, the supply unit 11 includes a robot 33 that conveys the liquid crystal panel 2 after the data has been read by the data reading device 31 to the processing device 14, and an ionizer that removes static electricity from the liquid crystal panel 2 that is conveyed to the processing device 14. The static eliminator) 34, the transport device 35 that transports the liquid crystal panel 2 that has been aligned by the alignment device 30 toward the robot 33, and the liquid crystal panel 2 that has been aligned by the alignment device 30 are transported to the transport device 35. The robot 36 and the base plate 37 on which these configurations are placed and fixed are provided.

The alignment device 30 is mounted on the right front end side of the base plate 37. The robot 33 is mounted on the left rear end side of the base plate 37. The data reading device 31 is mounted on the left front end side of the base plate 37. The robot 36 is arranged adjacent to the rear side of the alignment device 30. The transport device 35 is arranged between the data reading device 31 and the robot 33 and the alignment device 30 in the left-right direction. The ionizer 34 is arranged above the transport device 35. The base plate 37 is placed and fixed on the rear end side portion of the upper surface of the main body frame 12.

The alignment device 30 rotates the panel stage 39 on which the liquid crystal panel 2 carried out by the robot 9 from the tray 3 on the tray stages 6 and 7 is placed, and the panel stage 39 with the vertical direction as the axial direction of rotation. It also includes a moving mechanism that moves the panel stage 39 in the left-right direction and the front-back direction to align the liquid crystal panel 2. Further, the alignment device 30 includes a camera 41 and an illumination 42 arranged above the panel stage 39.

The transport device 35 includes four panel stages 52 on which the liquid crystal panel 2 is placed, and a drive mechanism for sliding the four panel stages 52 in the front-rear direction. The robot 36 includes a panel grip portion 55 that sucks and grips the liquid crystal panel 2, and a drive mechanism that slides the panel grip portion 55 in the vertical and horizontal directions. The robot 33 includes four panel gripping portions 58 that attract and grip the liquid crystal panel 2, and a drive mechanism that slides the four panel gripping portions 58 in the vertical and horizontal directions.

The robot 36 conveys the liquid crystal panel 2 after being aligned by the alignment device 30 to the panel stage 52 stopped on the front side. When the liquid crystal panel 2 is placed on the panel stage 52, the transport device 35 moves the panel stage 52 backward and transports the liquid crystal panel 2 to the rear end side of the transport device 35. The robot 33 carries the liquid crystal panel 2 transported to the rear end side of the transfer device 35 by the transfer device 35 into the processing device 14.

The data reading device 31 includes a camera 62 that reads optically readable data, a drive mechanism that slides the camera 62 in the vertical direction, the front-back direction, and the left-right direction, and an illumination that irradiates the liquid crystal panel 2 with light. There is. The data reading device 31 reads the data of the liquid crystal panel 2 mounted on the panel stage 52 of the conveying device 35 after the position adjustment by the alignment device 30. As described above, the ionizer 34 is arranged above the transport device 35. Further, the ionizer 34 is arranged behind the data reading device 31, and removes static electricity from the liquid crystal panel 2 after the data is read by the data reading device 31.

(Structure of panel grip)
FIG. 5 is a perspective view of the panel grip portion 24 of the robot 9 shown in FIG. FIG. 6 is a perspective view showing the panel grip portion 24 shown in FIG. 5 from another direction. FIG. 7 is a perspective view showing the substrate suction portion 72 and the position adjusting mechanism 73 shown in FIG. 5 from below. FIG. 8 is a diagram for explaining the path of the piping connected to the panel suction portion 71 and the substrate suction portion 72 shown in FIG. FIG. 9 is a schematic view for explaining the configuration of the panel detection mechanism 74 shown in FIG.

The panel gripping portion 24 includes a panel suction portion 71 that sucks the liquid crystal panel 2, and a substrate suction portion 72 as a wiring suction portion that sucks the FPC 2a drawn from the liquid crystal panel 2. The panel grip portion 24 of this embodiment includes two substrate suction portions 72. Further, the panel gripping portion 24 includes a position adjusting mechanism 73 for adjusting the position of the substrate suction portion 72 with respect to the panel suction portion 71, and a panel detecting mechanism 74 for detecting the presence or absence of the liquid crystal panel 2 in the tray 3. I have. Further, the panel gripping portion 24 includes a panel suction portion 71, a position adjusting mechanism 73, and a base member 75 to which the panel detecting mechanism 74 is attached. The base member 75 is formed in a substantially circular flat plate shape, and is arranged so that the thickness direction and the vertical direction of the base member 75 coincide with each other.

The panel suction portion 71 is attached to the lower surface side of the base member 75. The panel suction unit 71 sucks the liquid crystal panel 2 so that the thickness direction and the vertical direction (vertical direction) of the liquid crystal panel 2 coincide with each other. A suction port (not shown) for sucking the upper surface of the liquid crystal panel 2 is formed on the lower surface of the panel suction portion 71. The panel suction unit 71 grips the liquid crystal panel 2 by vacuum sucking the upper surface of the liquid crystal panel 2. In the following description, the V direction of FIG. 5 or the like orthogonal to the vertical direction (vertical direction) is referred to as the "first direction", and the W direction of FIG. 5 or the like orthogonal to the vertical direction and the first direction is referred to as the "second direction". And.

The substrate suction unit 72 sucks the FPC 2a so that the thickness direction and the vertical direction of the FPC 2a coincide with each other. The substrate suction portion 72 includes a substrate contact portion 76 that contacts the FPC 2a and a buffer mechanism 77 that cushions an impact when the substrate contact portion 76 contacts the FPC 2a. The cushioning mechanism 77 is, for example, an air damper including a piston 77a and a cylinder 77b that slidably holds the piston 77a. The buffer mechanism 77 is arranged so that the moving direction of the piston 77a and the vertical direction coincide with each other.

The substrate contact portion 76 is fixed to the lower end of the piston 77a so that it can contact the upper surface of the FPC 2a. A suction port 76a (see FIG. 7) for sucking the upper surface of the FPC 2a is formed on the lower surface of the substrate contact portion 76. The diameter of the suction port 76a is smaller than the diameter of the suction port formed on the lower surface of the panel suction portion 71. The substrate suction unit 72 grips the FPC2a by vacuum-sucking the upper surface of the FPC2a.

The position adjusting mechanism 73 is a manual adjusting mechanism. The position adjusting mechanism 73 includes a holding member 78 that holds the cylinder 77b, a holding member 79 that holds the holding member 78 slidably in the first direction, and a holding member 79 that slidably holds the holding member 79 in the second direction. It has 80 and. The position adjusting mechanism 73 of this embodiment includes two holding members 78, two holding members 79, and two holding members 80.

The holding member 80 is an elongated plate-shaped member having an L-shaped cross section. One end of each of the two holding members 80 is fixed to each of both ends of the base member 75 in the first direction, and the holding member 80 extends from the base member 75 to one side in the second direction. .. That is, the holding member 80 is arranged so that the longitudinal direction of the holding member 80 and the second direction coincide with each other. The holding member 80 is formed with an elongated hole 80a having a second direction as a longitudinal direction. The elongated hole 80a penetrates the holding member 80 in the vertical direction through a flat plate portion orthogonal to the vertical direction. Further, the elongated hole 80a is formed by a substantially center of the holding member 80 in the second direction and an end portion of the holding member 80 on one side in the second direction (the side in the direction in which the holding member 80 extends from the base member 75). It is formed in the entire area between.

The holding member 79 is an elongated plate-shaped member having an L-shaped cross section. Screw holes into which the screws 81 are screwed are formed on both ends of the holding member 79. The screw holes are formed in a flat plate portion of the holding member 79 that is orthogonal to the vertical direction. Each of both ends of the holding member 79 is fixed to each of the two holding members 80 by screws 81 inserted into the elongated holes 80a from above. That is, the holding member 79 is fixed to the two holding members 80 by screws 81, and is arranged below the holding member 80. Further, each of the two holding members 79 is fixed to the two holding members 80. The holding member 79 is arranged parallel to the first direction. That is, the two holding members 79 are arranged parallel to each other and parallel to the first direction.

The holding member 79 is formed with an elongated hole 79a having a first direction as a longitudinal direction. The elongated hole 79a penetrates the flat plate portion of the holding member 79 orthogonal to the second direction in the second direction. Further, the elongated hole 79a is formed in the entire area between the one-sided end and the other-side end of the holding member 79 in the first direction. The holding member 78 is a flat plate-shaped member bent into an L shape. The holding member 78 is formed with a screw hole into which the screw 82 is screwed. This screw hole is formed in a flat plate portion of the holding member 78 that is orthogonal to the second direction.

The holding member 78 is fixed to the holding member 79 by a screw 82 inserted into the elongated hole 79a from one side in the second direction, and is arranged on the other side of the holding member 79 in the second direction. Further, each of the two holding members 78 is fixed to each of the two holding members 79. A cylinder 77b is fixed to a flat plate portion of the holding member 78 that is orthogonal to the vertical direction. That is, the substrate suction portion 72 is fixed to the holding member 78.

In this embodiment, by loosening the screw 82, the position of the substrate suction portion 72 can be adjusted with respect to the panel suction portion 71 in the first direction. Further, by loosening the screw 81, the position of the substrate suction portion 72 can be adjusted with respect to the panel suction portion 71 in the second direction. That is, the position of the substrate suction portion 72 can be adjusted with respect to the panel suction portion 71 in the first direction and the second direction. Further, each of the two substrate suction portions 72 can be adjusted in position with respect to the panel suction portion 71.

As shown in FIG. 8, the panel suction portion 71 and the two substrate suction portions 72 are connected to a common air suction mechanism 85 via a common on / off valve 84. The on / off valve 84 is a solenoid valve. Further, the suction mechanism 85 is, for example, a vacuum pump. A flow control valve 86 is arranged in the piping path between the on / off valve 84 and the two substrate suction portions 72. The flow rate control valve 86 is, for example, a flow rate adjusting valve or a throttle valve. In this embodiment, the suction force of the FPC 2a by the substrate suction unit 72 is smaller than the suction force of the liquid crystal panel 2 by the panel suction unit 71 due to the action of the flow control valve 86. For example, the ratio of the suction force of the FPC 2a by the substrate suction section 72 to the suction force of the liquid crystal panel 2 by the panel suction section 71 is 1: 9.

In the piping path between the on / off valve 84 and the panel suction unit 71, a first for detecting whether or not the liquid crystal panel 2 is sucked on the panel suction part 71 based on the suction pressure of the panel suction part 71. The pressure sensor 87 is connected. Further, in the piping path between the on / off valve 84 and the two substrate suction portions 72, it is detected whether or not FPC2a is attracted to the substrate suction portion 72 based on the suction pressure of the substrate suction portion 72. The second pressure sensor 88 of the above is connected.

As shown in FIG. 9 and the like, the panel detection mechanism 74 is arranged at a position where the light emitting unit 89 that emits light toward the liquid crystal panel 2 in the tray 3 and the light reflected by the liquid crystal panel 2 can be received. It is an optical detection mechanism including a light receiving unit 90. Specifically, the panel detection mechanism 74 has a light emitting / receiving unit 91 having a light emitting unit 89 and a light receiving unit 90, and a reflection that reflects light emitted from the light emitting unit 89 and reflected by the liquid crystal panel 2 toward the liquid crystal panel 2. It is a retroreflective optical detection mechanism having a member (retroreflective plate) 92, and the light receiving unit 90 is arranged at a position where the light reflected by the liquid crystal panel 2 after being reflected by the reflective member 92 can be received. Has been done.

The light emitting unit 89 includes an LED (light emitting diode) that is a light source. Further, the light emitting unit 89 includes, for example, an optical fiber that transmits light from an LED. The light emitting / receiving unit 91 and the reflecting member 92 are fixed to the lower surface side of the base member 75. Further, the light emitting / receiving unit 91 and the reflecting member 92 are arranged above the lower surface of the panel suction unit 71. The light emitting / receiving unit 91 and the reflecting member 92 are arranged so as to sandwich the panel suction unit 71 in the first direction. Further, the light emitting / receiving unit 91 and the reflecting member 92 are attached to both ends of the base member 75 in the first direction.

The light emitting surface of the light emitting unit 89 and the light receiving surface of the light receiving unit 90 face diagonally downward, and the reflecting surface of the reflecting member 92 faces diagonally downward. Further, the light emitting surface of the light emitting unit 89, the light receiving surface of the light receiving unit 90, and the reflecting surface of the reflecting member 92 face inward in the first direction. The angle of incidence θ of the light emitted from the light emitting unit 89 on the liquid crystal panel 2 is 45 ° or more and less than 90 °. Specifically, the incident angle θ is approximately 65 °. Further, in the present embodiment, the spot diameter of the light emitted to the liquid crystal panel 2 is relatively small.

The panel detection mechanism 74 detects the presence or absence of the liquid crystal panel 2 when the panel gripping portion 24 tries to grip the liquid crystal panel 2 in the tray 3. Specifically, when the panel gripping portion 24 tries to grip the liquid crystal panel 2 in the tray 3, the panel detecting mechanism 74 detects the presence or absence of the liquid crystal panel 2 based on the amount of light received by the light receiving portion 90.

That is, when the panel gripping portion 24 tries to grip the liquid crystal panel 2 in the tray 3, if the liquid crystal panel 2 is under the panel gripping portion 24 as shown in FIG. 9, it is ejected from the light emitting portion 89. The light is reflected by the upper surface of the liquid crystal panel 2, reflected by the reflecting member 92, and then reflected again by the upper surface of the liquid crystal panel 2 and incident on the light receiving portion 90. The liquid crystal is displayed on the lower side of the panel grip portion 24. Without the panel 2, the light emitted from the light emitting unit 89 is reflected by the tray 3, reflected by the reflecting member 92, and then reflected by the tray 3 again and incident on the light receiving unit 90. The amount of light received by the light receiving unit 90 differs depending on whether the liquid crystal panel 2 is provided under the 24 or not. The panel detection mechanism 74 detects the presence / absence of the liquid crystal panel 2 based on the difference in the amount of light received by the light receiving unit 90.

As shown in FIG. 9, the tray 3 is formed with a panel support portion 3a that supports the outer peripheral end portion of the liquid crystal panel 2. The panel support portion 3a is formed in a rectangular frame shape, and the lower surface of the outer peripheral end portion of the liquid crystal panel 2 is in contact with the upper surface of the panel support portion 3a. The inner peripheral side of the panel support portion 3a is a recess 3b that is recessed downward. The vertical distance D between the upper surface of the panel support portion 3a and the bottom surface of the recess 3b is about 3 to 4 (mm). As described above, the thickness of the liquid crystal panel 2 is about 1 (mm), and when the liquid crystal panel 2 housed in the tray 3 is not bent, the liquid crystal panel 2 housed in the tray 3 is not bent. The vertical distance between the upper surface of the above and the bottom surface of the recess 3b is about 4 to 5 (mm).

When the panel grip portion 24 tries to grip the liquid crystal panel 2 in the tray 3, if the liquid crystal panel 2 is not under the panel grip portion 24, the light emitted from the light emitting portion 89 is in the recess 3b. It is reflected on the bottom. Further, the light reflected by the bottom surface of the recess 3b is reflected by the reflecting member 92 and then reflected again by the bottom surface of the recess 3b.

(Liquid crystal panel gripping operation)
FIG. 10 is a flowchart for explaining the gripping operation of the liquid crystal panel 2 by the panel gripping portion 24 shown in FIG.

In the present embodiment, when the panel gripping portion 24 starts the gripping operation of the liquid crystal panel 2 and the panel gripping portion 24 tries to grip the liquid crystal panel 2 housed in a predetermined position in the tray 3, the panel first. The presence / absence of the liquid crystal panel 2 is detected by the detection mechanism 74 (step S1). If the liquid crystal panel 2 is pulled out in the tray 3 and the liquid crystal panel 2 is not detected by the panel detection mechanism 74 in step S1 (in the case of "No" in step S1), the robot 9 holds the panel grip portion 24. The liquid crystal panel 2 housed in another place in the tray 3 is moved and tried to be gripped by the panel gripping portion 24 (step S2). That is, if the panel detection mechanism 74 does not detect the liquid crystal panel 2 when the panel gripping portion 24 tries to grip the liquid crystal panel 2 in the tray 3, the robot 9 is continuously housed in another place in the tray 3. The operation for gripping the liquid crystal panel 2 is performed.

On the other hand, when the panel gripping portion 24 tries to grip the liquid crystal panel 2 housed in the predetermined position in the tray 3, when the liquid crystal panel 2 is detected by the panel detection mechanism 74 (in step S1, "Yes". In the case of "), the robot 9 continues the gripping operation of the liquid crystal panel 2 as it is (step S3). That is, the robot 9 attempts to attract the liquid crystal panel 2 and the FPC 2a by the panel grip portion 24. Specifically, the robot 9 attempts to attract the liquid crystal panel 2 by the panel suction unit 71 and the FPC 2a by the substrate suction unit 72.

After that, the first pressure sensor 87 detects whether or not the liquid crystal panel 2 is attracted to the panel suction portion 71, and the second pressure sensor 88 detects whether or not the FPC2a is attracted to the substrate suction portion 72. Is detected (step S4). In step S4, the first pressure sensor 87 detects that the liquid crystal panel 2 is attracted to the panel suction portion 71, and the second pressure sensor 88 detects that the FPC2a is attracted to the substrate suction portion 72. Then (in the case of “Yes” in step S4), the gripping operation of the liquid crystal panel 2 by the panel gripping portion 24 is completed, and the robot 9 starts the unloading operation of the liquid crystal panel 2 from the tray 3.

On the other hand, when at least one of the liquid crystal panel 2 being adsorbed on the panel adsorption unit 71 and the FPC2a being adsorbed on the substrate adsorption unit 72 is not detected (in the case of "No" in step S4). ), The number of adsorption mistakes () is at least one of a state in which the liquid crystal panel 2 is not adsorbed on the panel adsorption unit 71 and a state in which the FPC 2a is not adsorbed on the substrate adsorption unit 72 (). It is determined whether or not it has occurred (N times) (step S5). For example, when the suction error has not occurred three times, which is a predetermined number of times (in the case of "No" in step S5), the robot 9 tries to suck the liquid crystal panel 2 and the FPC 2a again by the panel gripping portion 24. (Step S6), the process returns to step S4.

In step S4 after passing through step S6, when it is detected that the liquid crystal panel 2 is adsorbed on the panel adsorption unit 71 and FPC2a is adsorbed on the substrate adsorption unit 72 (step S4). In the case of "Yes"), the gripping operation of the liquid crystal panel 2 by the panel gripping portion 24 is completed, and the robot 9 starts the operation of carrying out the liquid crystal panel 2 from the tray 3. Further, in step S5, when the suction error occurs a predetermined number of times (in the case of “Yes” in step S5), an error occurs and the robot 9 stops.

(Main effect of this form)
As described above, in the present embodiment, the panel gripping portion 24 includes a panel detecting mechanism 74 that detects the presence or absence of the liquid crystal panel 2 when the panel gripping portion 24 tries to grip the liquid crystal panel 2 in the tray 3. There is. Further, in the present embodiment, if the panel detection mechanism 74 detects the liquid crystal panel 2 when the panel gripping portion 24 tries to grip the liquid crystal panel 2 in the tray 3, the robot 9 can directly perform the liquid crystal panel 2. If the gripping operation is continued, the liquid crystal panel 2 is pulled out in the tray 3, and the liquid crystal panel 2 is not detected by the panel detection mechanism 74, the robot 9 is housed in another place in the tray 3. The operation for gripping the liquid crystal panel 2 is continued. Therefore, in the present embodiment, the operation of the robot 9 can be continued even if the liquid crystal panel 2 is pulled out in the tray 3.

In the present embodiment, the panel detection mechanism 74 includes a light emitting unit 89 that emits light toward the liquid crystal panel 2 in the tray 3 and a light receiving unit 90 that is arranged at a position where the light reflected by the liquid crystal panel 2 can be received. It is an optical detection mechanism equipped with. Further, in this embodiment, the surface of the liquid crystal panel 2 is a glass surface, while the tray 3 is made of resin, and the surface of the tray 3 is rougher than the surface of the liquid crystal panel 2.

Therefore, in the present embodiment, when the liquid crystal panel 2 to be gripped by the panel gripping portion 24 is in the tray 3, the light emitted from the light emitting portion 89 and mirror-reflected on the surface of the liquid crystal panel 2 is received by the light receiving portion 90. When the liquid crystal panel 2 that the panel gripping unit 24 intends to grip is not in the tray 3, the light emitted from the light emitting unit 89 and diffusely reflected on the surface of the tray 3 is incident on the light receiving unit 90. Therefore, in the present embodiment, the amount of light received by the light receiving unit 90 is likely to differ depending on whether the liquid crystal panel 2 to be gripped by the panel gripping unit 24 is in the tray 3 or not, and as a result, the tray 3 It becomes possible to appropriately detect the presence or absence of the liquid crystal panel 2 inside.

Further, in the present embodiment, the panel detection mechanism 74 is a regression reflection type optical detection mechanism, and the light receiving unit 90 is a position capable of receiving the light reflected by the liquid crystal panel 2 after being reflected by the reflection member 92. It is located in. Therefore, in the present embodiment, when the liquid crystal panel 2 to be gripped by the panel gripping portion 24 is in the tray 3, the light emitted from the light emitting portion 89 is specularly reflected on the surface of the liquid crystal panel 2 twice. After that, when the liquid crystal panel 2 is incident on the light receiving unit 90 and the panel gripping unit 24 is not gripping the liquid crystal panel 2 in the tray 3, the light emitted from the light emitting unit 89 is diffusely reflected on the surface of the tray 3 twice. After that, it is incident on the light receiving unit 90.

Therefore, in the present embodiment, the vertical distance between the upper surface of the liquid crystal panel 2 housed in the tray 3 and the bottom surface of the recess 3b of the tray 3 irradiated with the light from the light emitting portion 89 is 4 to 5 (mm). Even if it is shortened, the amount of light received by the light receiving portion 90 is likely to differ depending on whether the liquid crystal panel 2 to be gripped by the panel grip portion 24 is in the tray 3 or not. Therefore, in the present embodiment, even if the vertical distance between the upper surface of the liquid crystal panel 2 housed in the tray 3 and the bottom surface of the recess 3b of the tray 3 is short, the presence or absence of the liquid crystal panel 2 in the tray 3 is appropriately present. It becomes possible to detect.

Further, in the present embodiment, the light emitting / receiving unit 91 and the reflecting member 92 are attached to both ends of the base member 75 in the first direction, and the light emitted from the light emitting unit 89 is incident on the liquid crystal panel 2. The angle θ is large. Therefore, in the present embodiment, even if the distance between the upper surface of the liquid crystal panel 2 housed in the tray 3 and the bottom surface of the recess 3b of the tray 3 in the vertical direction is short, the panel gripping portion 24 is as shown in FIG. When the liquid crystal panel 2 to be gripped is in the tray 3, the optical axis L1 of the light emitted from the light emitting portion 89 and reflected by the liquid crystal panel 2 and the liquid crystal panel 2 to be gripped by the panel gripping portion 24 are When it is not in the tray 3, it is possible to increase the amount of deviation of the light emitted from the light emitting unit 89 and reflected by the tray 3 from the optical axis L2.

Therefore, in the present embodiment, even if the vertical distance between the upper surface of the liquid crystal panel 2 housed in the tray 3 and the bottom surface of the recess 3b of the tray 3 is short, the liquid crystal panel 2 to be gripped by the panel gripping portion 24 It is possible to increase the amount of deviation of the optical axis of the light incident on the light receiving unit 90 depending on whether the light is in the tray 3 or not. Therefore, in the present embodiment, even if the vertical distance between the upper surface of the liquid crystal panel 2 housed in the tray 3 and the bottom surface of the recess 3b of the tray 3 is short, a large difference is likely to occur depending on the amount of light received by the light receiving unit 90. As a result, the presence or absence of the liquid crystal panel 2 in the tray 3 can be detected more appropriately.

In the present embodiment, the panel gripping portion 24 that grips the liquid crystal panel 2 includes a substrate suction portion 72 that sucks the FPC 2a drawn from the liquid crystal panel 2 in addition to the panel suction portion 71 that sucks the liquid crystal panel 2. Therefore, in the present embodiment, even if the FPC 2a is pulled out from the liquid crystal panel 2, it is possible to suppress the wobbling of the FPC 2a when the liquid crystal panel 2 is conveyed.

In this embodiment, the first pressure sensor 87 detects that the liquid crystal panel 2 is attracted to the panel suction portion 71, and the second pressure sensor 88 detects that the FPC2a is attracted to the substrate suction portion 72. Then, the robot 9 starts the operation of carrying out the liquid crystal panel 2 from the tray 3. Therefore, in the present embodiment, the liquid crystal panel 2 can be carried out from the tray 3 while the liquid crystal panel 2 and the FPC 2a are securely gripped by the panel gripping portion 24.

(Other embodiments)
The above-described embodiment is an example of a preferred embodiment of the present invention, but the present invention is not limited to this, and various modifications can be carried out without changing the gist of the present invention.

In the above-described embodiment, the panel detection mechanism 74 does not have to be a regression reflection type optical detection mechanism. In this case, for example, the light receiving unit 90 is arranged at the position where the reflecting member 92 is arranged in the above-described form. That is, the light receiving unit 90 is arranged at a position where it can receive the light emitted from the light emitting unit 89 and reflected by the liquid crystal panel 2. Further, the light emitting portion 89 and the light receiving portion 90 are arranged so as to sandwich the panel suction portion 71 in the first direction, and are attached to both ends of the base member 75 in the first direction.

Even in this case, since it is possible to increase the incident angle θ of the light emitted from the light emitting unit 89 on the liquid crystal panel 2, the upper surface of the liquid crystal panel 2 and the concave portion of the tray 3 accommodated in the tray 3. Even if the vertical distance from the bottom surface of 3b is short, the optical axis L1 of the light reflected by the liquid crystal panel 2 when the liquid crystal panel 2 to be gripped by the panel gripping portion 24 is in the tray 3. When the liquid crystal panel 2 to be gripped by the panel gripping portion 24 is not in the tray 3, the amount of deviation of the light reflected by the tray 3 from the optical axis L2 can be increased.

Therefore, even if the vertical distance between the upper surface of the liquid crystal panel 2 housed in the tray 3 and the bottom surface of the recess 3b of the tray 3 is short, the liquid crystal panel 2 to be gripped by the panel gripping portion 24 is the tray 3. It is possible to increase the amount of deviation of the optical axis of the light incident on the light receiving unit 90 depending on whether it is inside or not. Therefore, even if the vertical distance between the upper surface of the liquid crystal panel 2 housed in the tray 3 and the bottom surface of the recess 3b of the tray 3 is short, the amount of light received by the light receiving portion 90 is likely to differ, and as a result, The presence or absence of the liquid crystal panel 2 in the tray 3 can be appropriately detected.

In the above-described embodiment, a convex portion protruding upward may be formed on the bottom surface of the concave portion 3b so that the light irradiated to the bottom surface of the concave portion 3b of the tray 3 is not reflected toward the reflecting member 92. In this case, even if the vertical distance between the upper surface of the liquid crystal panel 2 housed in the tray 3 and the bottom surface of the recess 3b of the tray 3 is short, the liquid crystal panel 2 to be gripped by the panel gripping portion 24 A large difference is likely to occur depending on the amount of light received by the light receiving unit 90 depending on whether it is in the tray 3 or not.

In the above-described embodiment, wiring other than the FPC 2a may be drawn out from the liquid crystal panel 2. For example, the FFC (Flexible Flat Cable) may be pulled out from the liquid crystal panel 2. Further, in the above-described embodiment, the panel gripping portion 24 does not have to include the substrate suction portion 72.

In the above-described embodiment, the liquid crystal panel 2 conveyed to the robot 9 may be the liquid crystal panel 2 before the FPC 2a is connected. That is, the liquid crystal panel 2 housed in the tray 3 may be the liquid crystal panel 2 before the FPC 2a is connected. Further, in the above-described form, the display panel conveyed to the robot 9 may be a display panel other than the liquid crystal panel 2. For example, the display panel conveyed to the robot 9 may be an organic EL panel.

In the above-described embodiment, the configuration of the panel transfer robot of the present invention is described by taking the robot 9 which is a parallel link robot as an example. However, the panel transfer robot to which the present invention is applied is a two-axis Cartesian robot. It may be a 3-axis Cartesian robot. Further, the panel transfer robot to which the present invention is applied may be a horizontal articulated robot.

2 Liquid crystal panel (display panel)
2a FPC (flexible printed circuit board, wiring)
3 tray 9 robot (panel transfer robot)
24 Panel gripping part 28 Moving mechanism 71 Panel suction part 72 Board suction part (wiring suction part)
74 Panel detection mechanism 75 Base member 87 1st pressure sensor 88 2nd pressure sensor 89 Light emitting part 90 Light receiving part 91 Light receiving part 92 Reflecting member V 1st direction θ Incident angle

Claims (8)

In a panel transfer robot that carries out the display panel housed in a tray that can accommodate a plurality of display panels.
A panel grip portion that grips the display panel and a moving mechanism that moves the panel grip portion are provided.
The panel grip portion includes a panel detection mechanism for detecting the presence or absence of the display panel in the tray.
The panel detection mechanism is an optical detection having a light emitting unit that emits light toward the display panel in the tray and a light receiving unit that is arranged at a position where the light reflected by the display panel can be received. It is a mechanism, and when the panel gripping portion tries to grip the display panel in the tray, the presence or absence of the display panel is detected .
If the panel detection mechanism does not detect the display panel when the panel gripping portion tries to grip the display panel in the tray, the panel transfer robot is continuously housed in another place in the tray. A panel transfer robot characterized by performing an operation for gripping the display panel . The panel detection mechanism includes a light emitting unit, a light receiving / receiving unit having the light receiving unit, and a reflective member having a light emitting unit that emits light emitted from the light emitting unit and reflected by the display panel toward the display panel. It is a type optical detection mechanism,
The light receiving unit, the panel transfer robot according to claim 1, characterized in that it is arranged the light reflected by the display panel after being reflected by the reflection member to the light receiving positions. The panel grip portion includes a panel suction portion that sucks the display panel, a panel detection mechanism, and a base member to which the panel suction portion is attached.
The light emitting / receiving portion and the reflecting member are arranged so as to sandwich the panel suction portion in the first direction orthogonal to the vertical direction, and are attached to both ends of the base member in the first direction. The panel transfer robot according to claim 2 , wherein the panel transfer robot is characterized in that. The panel grip portion includes a panel suction portion that sucks the display panel, a panel detection mechanism, and a base member to which the panel suction portion is attached.
The light receiving unit is arranged at a position capable of receiving light emitted from the light emitting unit and reflected by the display panel.
The light emitting portion and the light receiving portion are arranged so as to sandwich the panel suction portion in the first direction orthogonal to the vertical direction, and are attached to both ends of the base member in the first direction. The panel transfer robot according to claim 1 . The panel transfer robot according to any one of claims 1 to 4 , wherein the angle of incidence of the light emitted from the light emitting unit on the display panel is 45 ° or more and less than 90 °. The panel transfer robot according to claim 5 , wherein the incident angle is approximately 65 °. The panel according to any one of claims 1 to 6 , wherein the panel gripping portion includes a panel suction portion that sucks the display panel and a wiring suction portion that sucks the wiring drawn from the display panel. Transfer robot. A first pressure sensor for detecting whether or not the display panel is attracted to the panel suction portion based on the suction pressure of the panel suction portion, and the wiring suction based on the suction pressure of the wiring suction portion. The panel transfer robot according to claim 7, further comprising a second pressure sensor for detecting whether or not the wiring is attracted to the portion.

Images