WO2018003575A1 - Robot, robot control method, teaching tool, and robot teaching method - Google Patents

Abstract

A robot 9 for transferring a display panel from a tray 3 on a tray stage 7 is provided with: a panel gripping unit 29; and a moving mechanism 35 for the panel gripping unit 29. When the coordinate system of the tray stage 7 side is defined as a first coordinate system, when the coordinate system of the robot 9 side is defined as a second coordinate system, when the coordinates of a target destination position for the panel gripping unit 29 represented by the first coordinate system are defined as first coordinates, and when the coordinates of a target destination position for the panel gripping unit 29 represented by the second coordinate system are defined as second coordinates; the first coordinate system and the second coordinate system are associated with each other in advance by teaching a prescribed position on the tray stage 7 side to the panel gripping unit 29. During operation of the panel gripping unit 29, the first coordinates are inputted to a control unit of the robot 9. The control unit converts the first coordinates into second coordinates, and moves the panel gripping unit 29 to the target destination position by controlling the moving mechanism 35 on the basis of the second coordinates.

Description

Robot, robot control method, teaching jig, and robot teaching method

The present invention relates to a robot for transporting a display panel such as a liquid crystal panel and a method for controlling the robot. The present invention also relates to a teaching jig used during teaching work of a robot that conveys a display panel such as a liquid crystal panel, and a robot teaching method using the teaching jig.

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 (for example, see Patent Document 1). The transport apparatus described in Patent Literature 1 includes five transport units, and various transport processes in the assembly process of the liquid crystal display device are assigned to each transport unit. In addition, the transport device includes an automatic loader that supplies the liquid crystal panel accommodated in the tray to the transport unit (see FIG. 19 of Patent Document 1). The automatic loader automatically supplies the liquid crystal panel to the positioning jig in the transport unit.

International Publication No. 2012/120956

In the transport apparatus described in Patent Document 1, the automatic loader includes, for example, a transport robot that transports a liquid crystal panel from a tray to a positioning jig. In general, the position of each of a plurality of liquid crystal panels accommodated in a tray is taught in advance to the transfer robot. In this case, if the storage position of the liquid crystal panel in the tray does not change, the position of each of the plurality of liquid crystal panels stored in the tray is taught once to the robot, and the liquid crystal panel is transferred from the tray to the positioning jig. It becomes possible.

However, the storage position of the liquid crystal panel in the tray may change due to a change in the size of the liquid crystal panel stored in the tray. At this time, the liquid crystal panel cannot be transported from the tray to the positioning jig unless the robot is instructed of the storage position of the liquid crystal panel. Therefore, when the accommodation position of the liquid crystal panel in the tray changes, a robot teaching operation is required.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a robot and a robot control method capable of eliminating the teaching work when the storage position of the display panel in the tray changes for the robot that transports the display panel to the tray. Is to provide. Another object of the present invention is to provide a teaching jig that can eliminate the teaching work of the robot that transports the display panel relative to the tray when the storage position of the display panel in the tray changes. An object of the present invention is to provide a robot teaching method using such a teaching jig.

In order to solve the above problems, the robot of the present invention performs at least one of carrying out the display panel from the tray placed on the tray stage and carrying the display panel into the tray placed on the tray stage. A robot, comprising a panel gripping unit for gripping a display panel, a moving mechanism for moving the panel gripping unit, and a control unit for controlling the robot, the panel gripping unit holding the display panel accommodated in the tray on the tray stage The position where the panel gripper releases the display panel in order to store the display panel gripped by the panel gripper or the panel gripper in the tray on the tray stage is the target reach position of the panel gripper. The coordinate system based on the set reference point is the first coordinate system, and the coordinate system based on the reference point set on the robot side is the second coordinate system. The coordinates of the target arrival position of the panel gripper represented by using the first coordinate system are the first coordinates, and the coordinates of the target reach position of the panel gripper represented by using the second coordinate system are the second coordinates. Then, the first coordinate system and the second coordinate system are associated in advance by teaching the predetermined position on the tray stage side to the panel gripping unit, and when the panel gripping unit is operated, the first coordinate system is assigned to the control unit. And the control unit converts the input first coordinate to the second coordinate, controls the moving mechanism based on the second coordinate, and moves the panel gripping unit to the target reaching position of the panel gripping unit. It is characterized by.

In order to solve the above problems, a robot control method according to the present invention includes a panel gripping unit that grips a display panel, and a moving mechanism that moves the panel gripping unit, from a tray placed on a tray stage. A control method for a robot that carries out at least one of unloading of the display panel and loading of the display panel into a tray placed on the tray stage, wherein the display panel accommodated in the tray on the tray stage The position where the panel gripper releases the display panel in order to store the display panel gripped by the panel gripper or the panel gripper in the tray on the tray stage is the target reach position of the panel gripper. The coordinate system based on the set reference point is the first coordinate system, and the coordinate system based on the reference point set on the robot side is the second coordinate system. If the coordinates of the target reaching position of the panel gripping part represented using the first coordinate system are the first coordinates, and the coordinates of the target reaching position of the panel gripping part represented using the second coordinate system are the second coordinates The first coordinate system and the second coordinate system are associated in advance by teaching a predetermined position on the tray stage side to the panel holding unit, a coordinate input step in which the first coordinates are input, and coordinate input A panel gripper operation step of converting the first coordinate input in the step into a second coordinate and controlling the moving mechanism based on the second coordinate to move the panel gripper to the target reaching position of the panel gripper. It is characterized by providing.

In the present invention, the first coordinate system based on the reference point set on the tray stage side and the second coordinate system based on the reference point set on the robot side teach the predetermined position on the tray stage side to the panel gripper. When the first coordinates of the target arrival position of the panel gripping part that are associated in advance and represented using the first coordinate system are input, the panel gripping part represented using the second coordinate system The first coordinates are converted into the second coordinates of the target reaching position, the movement mechanism is controlled based on the second coordinates, and the panel gripping portion is moved to the target reaching position of the panel gripping portion.

Therefore, in the present invention, if the robot teaching operation for associating the first coordinate system with the second coordinate system is performed, the robot teaching operation is performed when the storage position of the display panel in the tray is changed thereafter. Even if it does not perform, it becomes possible to convert the input 1st coordinate into a 2nd coordinate, and to move a panel holding part to the storage position of the display panel in a tray. That is, according to the present invention, if the robot teaching operation for associating the first coordinate system with the second coordinate system is performed, the robot teaching is performed when the storage position of the display panel in the tray is changed thereafter. There is no need to do work. Therefore, according to the present invention, it is possible to eliminate the teaching work of the robot when the storage position of the display panel in the tray changes.

In the present invention, for example, the moving mechanism has a main body portion, a plurality of levers whose base end side is rotatably connected to the main body portion, and a base end side that can be rotated at each of the distal end sides of the plurality of levers. A plurality of arm portions connected to each other, a movable portion rotatably connected to the distal end side of the plurality of arm portions, and a plurality of rotation drive mechanisms for rotating each of the plurality of levers. The lever is connected to the main body so as to extend radially at a substantially equal angular pitch to the outer peripheral side of the main body, and the arm includes two linear arms that are parallel to each other, and two at the tip of the lever. The base end sides of the arms are rotatably connected, and the movable part is rotatably connected to the distal ends of the two arms, and the panel gripping part is attached to the movable part. That is, the robot is, for example, a parallel link robot.

In order to solve the above-described problem, the teaching jig of the present invention includes a panel gripping unit that grips the display panel, and a moving mechanism that moves the panel gripping unit, and includes a tray mounted on the tray stage. A teaching jig used during teaching operation of a robot that performs at least one of unloading of the display panel and loading of the display panel to the tray placed on the tray stage, and is placed on the tray stage A plate-like placement portion, and a first reference pin, a second reference pin, and a third reference pin that rise from one surface in the thickness direction of the placement portion toward one side in the thickness direction of the placement portion. Provided, a predetermined direction orthogonal to the thickness direction of the mounting portion is defined as the first direction, and a direction orthogonal to the thickness direction of the mounting portion and the first direction is defined as the second direction. Diameter and outer diameter of second reference pin and third reference pin The second reference pin is disposed at a position displaced from the first reference pin in the first direction, and the third reference pin is disposed at a position displaced from the first reference pin in the second direction. It is characterized by.

In the teaching jig of the present invention, the second reference pin is arranged at a position shifted from the first reference pin in the first direction, and the third reference pin is arranged at a position shifted from the first reference pin in the second direction. ing. Therefore, in the present invention, by using the first reference pin and the second reference pin of the teaching jig placed on the tray stage, the predetermined position on the tray stage side is taught to the panel holding unit, so that the tray stage side The first coordinate system based on the set reference point and the second coordinate system based on the reference point set on the robot side can be associated in the first direction. Further, by using the first reference pin and the third reference pin of the teaching jig placed on the tray stage to teach the predetermined position on the tray stage side to the panel holding unit, the first coordinate system and the second coordinate It is possible to associate with the system in the second direction.

Therefore, in the present invention, when the teaching work of the robot is performed using the teaching jig, the first coordinate of the target reaching position of the panel gripping portion represented by using the first coordinate system is then set as the second coordinate system. It is possible to move the panel gripping portion to the target reaching position of the panel gripping portion based on the second coordinates by converting to the second coordinate of the target reaching position of the panel gripping portion expressed using. In other words, in the present invention, if the teaching operation of the robot is performed using the teaching jig, the display in the tray is performed without performing the teaching operation of the robot when the storage position of the display panel in the tray is changed thereafter. The panel gripper can be moved to the panel storage position. Therefore, if the teaching operation of the robot is performed using the teaching jig of the present invention, it becomes possible to eliminate the teaching operation of the robot when the storage position of the display panel in the tray changes.

In the present invention, the teaching jig includes a fourth reference pin that rises from a surface on one side in the thickness direction of the placement portion toward one side in the thickness direction of the placement portion. The first reference pin is disposed adjacent to the first reference pin, and the distance between the first reference pin and the fourth reference pin is shorter than the distance between the first reference pin and the second reference pin and the distance between the first reference pin and the third reference pin. It is preferable. With this configuration, the vertical direction can be rotated by teaching the panel holding unit a predetermined position on the tray stage side using the first reference pin and the fourth reference pin of the teaching jig placed on the tray stage. It is possible to associate the first coordinate system and the second coordinate system in the rotation direction as the movement axis direction.

In the present invention, it is preferable that the outer diameter of the first reference pin is different from the outer diameter of the fourth reference pin. If comprised in this way, operation at the time of matching with the 1st coordinate system and the 2nd coordinate system in the rotation direction which makes the vertical direction the axial direction of rotation using the 1st reference pin and the 4th reference pin It becomes possible to prevent mistakes.

In the present invention, the teaching jig includes a fifth reference pin that rises from one surface in the thickness direction of the placement portion toward one side in the thickness direction of the placement portion, and the tip of the fifth reference pin It is preferable that the surface is a plane orthogonal to the thickness direction of the placement portion. With this configuration, the first coordinate system and the second coordinate can be obtained by teaching the predetermined position on the tray stage side to the panel holding unit using the fifth reference pin of the teaching jig placed on the tray stage. It is possible to associate with the system in the vertical direction.

In the robot teaching method using the teaching jig of the present invention, for example, the first reference pin of the teaching jig placed on the tray stage is inserted into the first reference hole formed in the panel gripping portion. In addition, the position where the fourth reference pin of the teaching jig placed on the tray stage is inserted into the second reference hole formed in the panel holding portion, and the teaching jig placed on the tray stage The panel gripper is instructed about the position at which the second reference pin is inserted into the first reference hole and the position at which the third reference pin of the teaching jig placed on the tray stage is inserted into the first reference hole. To do.

As described above, according to the present invention, it is possible to eliminate the teaching work of the robot that transports the display panel relative to the tray when the storage position of the display panel in the tray changes.

It is a side view of the conveyance system in which the robot concerning an embodiment of the invention is built. It is a top view which shows a conveyance system from the EE direction of FIG. It is a top view for demonstrating the state by which the liquid crystal panel was accommodated in the tray shown in FIG. It is a perspective view of the robot shown in FIG. It is a top view of the panel holding part shown in FIG. It is a figure of the teaching jig | tool used at the time of the teaching operation | work of the robot shown in FIG. 4, (A) is a top view, (B) is a front view, (C) is a side view.

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

(Conveying system configuration)
FIG. 1 is a side view of a transfer system 1 in which a 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 plan view for explaining a state in which the liquid crystal panel 2 is accommodated in the tray 3 shown in FIG. FIG. 4 is a perspective view of the robot 9 shown in FIG. FIG. 5 is a plan view of the panel gripping portion 29 shown in FIG.

The robot 9 of this embodiment is a robot for carrying out the liquid crystal panel 2 as a display panel from the tray 3 placed on the tray stages 6 and 7. The robot 9 is used by being incorporated in the transport system 1. The transport system 1 is incorporated in a liquid crystal display production line used in portable devices and the like. The transport system 1 transports the liquid crystal panel 2 and supplies the liquid crystal panel 2 to a processing device 15 (see FIG. 2) that performs predetermined processing on the liquid crystal panel 2. Further, the transport system 1 transports a small-sized or medium-sized liquid crystal panel 2 (for example, a liquid crystal panel 2 of 4 inches to 15 inches).

The liquid crystal panel 2 is formed in a rectangular flat plate shape. The tray 3 is also formed in a rectangular flat plate shape. The liquid crystal panel 2 can be accommodated in the tray 3, and an accommodation recess for accommodating the liquid crystal panel 2 is formed on the upper surface of the tray 3. The number of liquid crystal panels 2 accommodated in the tray 3 varies depending on the size of the liquid crystal panel 2 and the like. For example, depending on the size of the liquid crystal panel 2, the tray 3 accommodates two liquid crystal panels 2 as shown in FIG. 3 (A), or four sheets as shown in FIG. 3 (B). The liquid crystal panel 2 is accommodated, or as shown in FIG. 3C, eight liquid crystal panels 2 are accommodated. 2, illustration of the liquid crystal panel 2 accommodated in the tray 3 is omitted.

The transport system 1 includes two conveyors 4 and 5 for transporting the tray 3 in addition to the two tray stages 6 and 7 and the robot 9. The conveyors 4 and 5 convey the trays 3 stacked in a plurality of stages (that is, the stacked trays 3) linearly in the horizontal direction. For example, the conveyors 4 and 5 linearly convey the trays 3 stacked in 20 stages in the horizontal direction. Further, the transport system 1 includes a robot 8 that transports the tray 3 between the conveyors 4 and 5 and the tray stages 6 and 7, and a supply unit 10 that receives the liquid crystal panel 2 from the robot 9 and supplies the liquid crystal panel 2 to the processing device 15. I have.

In the following description, the conveyance direction of the tray 3 by the conveyors 4 and 5 (X direction in FIG. 1 and the like) is referred to as “front-rear direction”, and the direction perpendicular to the vertical direction and the front-rear direction (Y in FIG. 1 and the like). Direction) is the “left-right direction”. Also, one side in the front-rear direction (X1 direction side in FIG. 1 etc.) is the “front” side, and the opposite side (X2 direction side in FIG. 1 etc.) is the “rear (rear) side”. (Y1 direction side in FIG. 2 etc.) 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 15 is disposed on the rear side of the transport system 1. Further, the tray stages 6 and 7 are arranged behind the conveyors 4 and 5, and the supply unit 10 is arranged behind the tray stages 6 and 7.

Further, the transport system 1 includes a main body frame 11 on which the conveyors 4 and 5, the tray stages 6 and 7, the robot 8, and the supply unit 10 are installed, and a main body frame 12 on which the robot 9 is installed. The upper surface of the main body frame 11 is formed in a planar shape perpendicular to the vertical direction, and the conveyors 4 and 5, the tray stages 6 and 7, the robot 8, and the supply unit 10 are installed on the upper surface of the main body frame 11. . The main body frame 12 is a portal frame formed in a substantially gate shape, and is installed so as to straddle the rear end portion of the main body frame 11 in the left-right direction. The robot 9 is installed on the upper surface of the main body frame 12.

The conveyors 4 and 5 are roller conveyors including a plurality of rollers. The conveyor 4 and the conveyor 5 are adjacently arranged 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. The liquid crystal panel 2 is accommodated in the tray 3 conveyed by the conveyor 4. On the other hand, the liquid crystal panel 2 is not accommodated in the tray 3 conveyed by the conveyor 5, and the tray 3 conveyed by the conveyor 5 is an empty tray. The conveyors 4 and 5 may be belt conveyors or the like.

On the front end side of the conveyor 4, a tray 3 in a stacked state that is carried by an operator from a temporary shelf (not shown) is placed. The stacked tray 3 placed on the front end side of the conveyor 4 is transported to the rear side, and the stacked tray 3 transported to the rear end side of the conveyor 4 is stacked by the robot 8 as described later. It is separated. Also, empty trays 3 are stacked on the rear end side of the conveyor 5 by the robot 8 as will be described later. When the trays 3 are stacked up to a predetermined number, the stacked trays 3 are conveyed to the front side. The stacked trays 3 conveyed to the front end side of the conveyor 5 are transported to the empty tray shelf by the operator.

A single tray 3 is placed on the tray stages 6 and 7. The tray stages 6 and 7 are fixed to the main body frame 11. The tray stage 6 and the tray stage 7 are arranged in a state with a predetermined interval in the left-right direction. The upper surfaces of the tray stages 6 and 7 are formed in a planar shape perpendicular to the vertical direction. The tray 3 is placed on the tray stages 6 and 7 so that the direction of the long side of the tray 3 formed in a rectangular flat plate shape matches the front-rear direction.

The robot 8 is a so-called three-axis orthogonal robot. The robot 8 includes a main body frame 20 formed in a gate shape, a movable frame 21 held by the main body frame 20 so as to be slidable in the left-right direction with respect to the main body frame 20, and the movable frame 21. A movable frame 22 held by the movable frame 21 so as to be slidable in the front-rear direction, and a movable frame 23 held by the movable frame 22 so as to be slidable in the vertical direction with respect to the movable frame 22. And a tray grip portion 24 attached to the movable frame 23. The robot 8 includes a drive mechanism that slides the movable frame 21 in the left-right direction, a drive mechanism that slides the movable frame 22 in the front-rear direction, and a drive mechanism that slides the movable frame 23 in the up-down direction.

The main body frame 20 is installed so as to straddle the conveyors 4 and 5 in the left-right direction. The movable frame 21 is attached to the upper surface side of the main body frame 20. The movable frame 22 is attached to the right side of the movable frame 21. The movable frame 23 is attached to the rear end side of the movable frame 22. The tray holding part 24 is attached to the lower end of the movable frame 23. The tray gripping portion 24 includes a plurality of suction portions that suck the tray 3. When the robot 8 transports the tray 3, the suction unit contacts the upper surface of the tray 3 and vacuum-sucks the tray 3.

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

The robot 9 is a so-called parallel link robot. The robot 9 includes a main body 25, three levers 26 connected to the main body 25, three arm parts 27 connected to each of the three levers 26, and three arm parts 27. A head unit 28 serving as a movable portion to be connected and a panel gripping portion 29 attached to the head unit 28 are provided. The main body 25 is installed so as to hang from the upper surface of the main body frame 12. Further, the main body 25 is disposed above the tray stages 6 and 7 and is disposed behind the main body frame 20 of the robot 8.

The three levers 26 are connected to the main body 25 so as to extend radially at substantially equal angular pitches toward the outer periphery of the main body 25. That is, the three levers 26 are connected to the main body 25 so as to extend radially at a pitch of approximately 120 ° toward the outer periphery of the main body 25. Further, the base end sides of the three levers 26 are rotatably connected to the main body portion 25. A motor 30 with a speed reducer as a rotation drive mechanism for rotating the lever 26 is disposed at a connecting portion between the main body 25 and the lever 26. The robot 9 of this embodiment includes three motors 30 that rotate each of the three levers 26. The output shaft of the motor 30 is fixed to the base end side of the lever 26.

The proximal end side of the arm portion 27 is connected to the distal end side of the lever 26 so as to be rotatable. Specifically, the arm portion 27 includes two linear arms 32 that are parallel to each other, and the base end sides of the two arms 32 are rotatably connected to the distal end side of the lever 26. Yes. The head unit 28 is rotatably connected to the distal ends of the three arm portions 27. That is, the head unit 28 is rotatably connected to the distal end side of the six arms 32. In the robot 9, the three motors 30 are individually driven, so that the head unit 28 is maintained in a predetermined posture in a predetermined area at any position in the vertical direction, the horizontal direction, and the front-back direction. In this state (specifically, with the panel gripping portion 29 facing downward), the head unit 28 can be moved.

The panel holding part 29 is formed in a substantially rectangular flat plate shape. The panel grip 29 is attached to the lower end of the head unit 28 so that the thickness direction of the panel grip 29 formed in a flat plate shape coincides with the vertical direction. A motor 33 is attached to the upper end of the head unit 28. The panel grip 29 is connected to a motor 33 and can be rotated with the power of the motor 33 so that the vertical direction is the axial direction of the rotation. In this embodiment, the main body 25, the three levers 26, the three arm portions 27, the head unit 28, the three motors 30, and the motor 33 constitute a moving mechanism 35 that moves the panel gripping portion 29. Yes.

The panel gripping part 29 includes a plurality of suction parts (not shown) that vacuum-suck the liquid crystal panel 2. This suction part is provided on the lower surface side of the panel gripping part 29, and the panel gripping part 29 grips the liquid crystal panel 2 by sucking the upper surface of the liquid crystal panel 2 by the suction part. The panel grip 29 is formed with two reference holes 29a and 29b used during teaching work of the robot 9 (see FIG. 5). In this embodiment, the reference hole 29a is a first reference hole, and the reference hole 29b is a second reference hole.

The reference holes 29a and 29b are formed in a round hole shape penetrating the panel grip portion 29 in the vertical direction. The inner diameter of the reference hole 29a is larger than the inner diameter of the reference hole 29b. When viewed from above and below, the reference holes 29a and 29b are formed at positions shifted from the rotation center C1 of the panel gripping portion 29 that is rotated by the power of the motor 33. Further, when viewed from above and below, the reference hole 29a and the reference hole 29b are formed so as to sandwich the rotation center C1. The reference holes 29a and 29b may be formed in a round hole shape that is recessed from the lower surface of the panel gripping portion 29 so as not to penetrate the panel gripping portion 29 in the vertical direction.

The robot 9 carries out the liquid crystal panels 2 one by one from the tray 3 placed on the tray stage 6 or the tray 3 placed on the tray stage 7. Specifically, the robot 9 carries out the liquid crystal panels 2 one by one from the tray 3 until the tray 3 placed on the tray stages 6 and 7 becomes empty. Further, the robot 9 conveys the liquid crystal panel 2 carried out from the tray 3 to a panel stage 38 to be described later.

The supply unit 10 includes a data reader 36 that reads data such as inspection data of the liquid crystal panel 2 recorded on the liquid crystal panel 2. The supply unit 10 also includes an alignment device 37 that aligns the liquid crystal panel 2 before the data reading device 36 reads the data on the liquid crystal panel 2. The alignment device 37 includes a panel stage 38 on which the liquid crystal panel 2 is placed. The liquid crystal panel 2 carried out from the tray 3 on the tray stages 6 and 7 by the robot 9 is placed on the panel stage 38. .

Further, the supply unit 10 includes a robot 39 that transports the liquid crystal panel 2 after the data is read by the data reader 36 to the processing device 15, and an ionizer that removes static electricity from the liquid crystal panel 2 that is transported to the processing device 15. Static electricity removing device) 40, transport device 41 that transports liquid crystal panel 2 that has been aligned by alignment device 37 toward robot 39, and liquid crystal panel 2 that has been aligned by alignment device 37 is transported to transport device 41. And a robot 42.

In the supply unit 10, when the liquid crystal panel 2 is aligned by the alignment device 37, the robot 42 transports the liquid crystal panel 2 to the transport device 41. The transport device 41 transports the liquid crystal panel 2 toward the robot 39. Further, when the transport device 41 transports the liquid crystal panel 2 toward the robot 39, the transport device 41 temporarily stops in order to read data on the liquid crystal panel 2 by the data reading device 36. The ionizer 40 is disposed above the transport device 41 and removes static electricity from the liquid crystal panel 2 transported by the transport device 41.

(Robot control method)
When the coordinate system based on the reference point set on the tray stages 6 and 7 side is the first coordinate system, and the coordinate system (robot coordinate system) based on the reference point set on the robot 9 side is the second coordinate system, The first coordinate system and the second coordinate system are associated in advance by teaching the panel holding unit 29 a predetermined location on the tray stages 6 and 7 side using a teaching jig 50 described later. In this embodiment, the first coordinate system on the tray stage 6 side and the first coordinate system on the tray stage 7 side are individually set, and the first coordinate system and the second coordinate system on the tray stage 6 side are set. In addition to being associated in advance, the first coordinate system and the second coordinate system on the tray stage 7 side are associated in advance.

Further, the position where the panel gripping portion 29 grips the liquid crystal panel 2 accommodated in the tray 3 on the tray stages 6 and 7 is set as the target reaching position of the panel gripping portion 29, and the panel gripping expressed by using the first coordinate system. When the coordinates of the target reaching position of the unit 29 are the first coordinates and the coordinates of the target reaching position of the panel gripping part 29 expressed using the second coordinate system are the second coordinates, The first coordinates are input to the control unit 45 (see FIG. 4) that controls 9 (coordinate input step). That is, when the panel gripping portion 29 is operated, the first coordinate representing the coordinates of the position where the panel gripping portion 29 grips the liquid crystal panel 2 accommodated in the tray 3 on the tray stages 6 and 7 is controlled by the first coordinate system. Input to the unit 45.

The control unit 45 converts the first coordinate input in the coordinate input step into the second coordinate, controls the moving mechanism 35 based on the second coordinate, and moves the panel gripping unit 29 to the target reaching position of the panel gripping unit 29. Is moved (panel gripper operation step). The panel gripping portion 29 that has moved to the target reaching position grips the liquid crystal panel 2 and transports it to the panel stage 38. The storage position of the liquid crystal panel 2 in the tray 3 varies depending on the size of the liquid crystal panel 2 (see FIG. 3). Therefore, the target reaching position of the panel gripping portion 29 varies depending on the size of the liquid crystal panel 2 and the like. On the other hand, the position of the panel stage 38 when the liquid crystal panel 2 is placed is constant, and the panel gripping portion 29 is used to place the liquid crystal panel 2 gripped by the panel gripping portion 29 on the panel stage 38. The position where the liquid crystal panel 2 is released is constant.

(Structure of teaching jig)
FIGS. 6A and 6B are diagrams of a teaching jig 50 used during teaching work of the robot 9 shown in FIG. 4. FIG. 6A is a plan view, FIG. 6B is a front view, and FIG.

In the teaching work of the robot 9 for associating the first coordinate system with the second coordinate system, the teaching jig 50 is used. The teaching jig 50 includes a placement portion 51 placed on the tray stages 6 and 7, and five reference pins 52 to 56 rising from the placement portion 51. In this embodiment, the reference pin 52 is a first reference pin, the reference pin 53 is a second reference pin, the reference pin 54 is a third reference pin, and the reference pin 55 is a fourth reference pin. The reference pin 56 is a fifth reference pin.

The mounting portion 51 is formed in a rectangular flat plate shape. Specifically, a predetermined direction (V direction in FIG. 6A) orthogonal to the thickness direction of the placement portion 51 is defined as the first direction, and is orthogonal to the thickness direction of the placement portion 51 and the first direction. Assuming that the direction (W direction in FIG. 6A) is the second direction, the mounting portion 51 is a rectangular flat plate having the first direction as the long side direction and the second direction as the short side direction. Is formed. The outer shape of the mounting portion 51 is equal to the outer shape of the tray 3. In the following, the first direction is the V direction and the second direction is the W direction.

The reference pins 52 to 56 are formed in a cylindrical shape. The reference pins 52 to 56 are fixed to one surface in the thickness direction of the mounting portion 51, and from the one surface in the thickness direction of the mounting portion 51 in the thickness direction of the mounting portion 51. Standing up to one side. The reference pins 52 to 54 are arranged at three of the four corners of the mounting portion 51 formed in a rectangular shape. The reference pin 56 is disposed at the center of the placement portion 51.

The reference pin 53 is arranged at the same position as the reference pin 52 in the W direction and is arranged at a position shifted from the reference pin 52 in the V direction. The reference pin 54 is arranged at the same position as the reference pin 53 in the V direction and is arranged at a position shifted from the reference pin 52 in the W direction. The reference pin 55 is disposed adjacent to the reference pin 52. Specifically, the reference pin 55 is disposed adjacent to the reference pin 52 in the W direction. The distance between the reference pin 52 and the reference pin 55 is closer than the distance between the reference pin 52 and the reference pin 53 and the distance between the reference pin 52 and the reference pin 54. Further, the pitch between the reference pin 52 and the reference pin 55 is equal to the pitch between the reference hole 29a and the reference hole 29b of the panel gripping portion 29.

The reference pin 52, the reference pin 53, and the reference pin 54 are formed in the same shape, and the outer diameter of the reference pin 52, the outer diameter of the reference pin 53, and the outer diameter of the reference pin 54 are equal. Further, the outer diameters of the reference pins 52 to 54 are substantially equal to the inner diameter of the reference hole 29a of the panel grip portion 29. On the distal end side of the reference pins 52 to 54, a truncated cone-shaped taper portion whose outer diameter gradually decreases toward the distal end side of the reference pins 52 to 54 is formed.

The outer diameter of the reference pin 55 is different from the outer diameter of the reference pin 52. Specifically, the outer diameter of the reference pin 55 is smaller than the outer diameter of the reference pin 52. Further, the outer diameter of the reference pin 55 is substantially equal to the inner diameter of the reference hole 29b of the panel grip portion 29. Also on the front end side of the reference pin 55, a truncated cone-shaped taper portion whose outer diameter gradually decreases toward the front end side of the reference pin 55 is formed. The front end surface of the reference pin 56 is a plane orthogonal to the thickness direction of the placement portion 51.

(Robot teaching method)
In this embodiment, the teaching operation of the robot 9 is performed as follows to associate the first coordinate system with the second coordinate system. First, the teaching jig 50 is placed on the tray stage 6. Specifically, the thickness direction of the mounting portion 51 and the vertical direction match, the long side direction of the mounting portion 51 matches the front-rear direction, and the reference pins 52 to 56 protrude upward. As described above, the teaching jig 50 is placed on the tray stage 6. Further, the teaching jig 50 is placed on the tray stage 6 so that the placement position of the tray 3 on the tray stage 6 and the placement position of the teaching jig 50 on the tray stage 6 are the same position. To do.

Thereafter, the panel gripping portion 29 is moved so that the reference pin 52 is inserted into the reference hole 29a of the panel gripping portion 29 as shown by a two-dot chain line in FIG. The position where the reference pin 55 is inserted into 29b is taught to the panel grip 29 (first teaching step). In the first teaching step, the first coordinate system and the second coordinate system are associated with each other in the rotation direction in which the vertical direction is the axis direction of rotation.

Also, the panel gripper 29 is moved to teach the panel gripper 29 the position at which the reference pin 53 is inserted into the reference hole 29a as shown by the broken line in FIG. 6A (second teaching step). By the first teaching step and the second teaching step, the first coordinate system and the second coordinate system are associated with each other in the front-rear direction. Further, the panel gripper 29 is moved to teach the panel gripper 29 the position at which the reference pin 54 is inserted into the reference hole 29a, as shown by the one-dot chain line in FIG. 6A (third teaching step). . The first coordinate system and the second coordinate system are associated with each other in the left-right direction by the first teaching step and the third teaching step, or by the second teaching step and the third teaching step.

Further, the panel gripping portion 29 is moved so that a slight gap is formed between the lower surface of the panel gripping portion 29 and the front end surface (upper end surface) of the reference pin 56 as shown by a two-dot chain line in FIG. The panel gripping portion 29 is instructed to oppose the state in the state (fourth teaching step). By the fourth teaching step, the first coordinate system and the second coordinate system are associated with each other in the vertical direction. In the fourth teaching step, the panel gripper 29 may be taught the position where the lower surface of the panel gripper 29 and the tip surface of the reference pin 56 are in contact.

The first teaching step, the second teaching step, the third teaching step, and the fourth teaching step may be executed in this order, or may be executed in an arbitrary order. Further, as described above, since the reference hole 29a is formed at a position shifted from the rotation center C1 of the panel gripping portion 29, when the reference hole 29a is shifted from the rotation center C1 in the left-right direction, The first coordinate system and the second coordinate system in the left-right direction are associated with each other so that the deviation between the reference hole 29a and the rotation center C1 is corrected. In addition, when the reference hole 29a is deviated from the rotation center C1 in the front-rear direction, the first coordinate system and the second coordinate in the front-rear direction are corrected so that the deviation between the reference hole 29a and the rotation center C1 is corrected. Association with the system is performed.

When the teaching work of the robot 9 using the teaching jig 50 placed on the tray stage 6 is completed, the teaching jig 50 is placed on the tray stage 7. Similarly, the teaching operation of the robot 9 using the teaching jig 50 placed on the tray stage 7 is performed.

(Main effects of this form)
As described above, in the present embodiment, the first coordinate system and the second coordinate system are preliminarily set by teaching the panel holding unit 29 the predetermined positions on the tray stages 6 and 7 side using the teaching jig 50. It is associated. In the present embodiment, the first coordinate is input to the control unit 45 during the operation of the panel gripping unit 29, and the control unit 45 converts the input first coordinate to the second coordinate, and based on the second coordinate. The moving mechanism 35 is controlled to move the panel gripping portion 29 to the target reaching position of the panel gripping portion 29.

Therefore, in this embodiment, if the teaching work of the robot 9 for performing the association between the first coordinate system and the second coordinate system is performed using the teaching jig 50, the liquid crystal panel 2 in the tray 3 is then moved. Even if the teaching operation of the robot 9 is not performed when the storage position is changed, the input first coordinate is converted into the second coordinate, and the panel grip portion 29 is moved to the storage position of the liquid crystal panel 2 in the tray 3. It becomes possible to make it. That is, in this embodiment, if the teaching work of the robot 9 is performed using the teaching jig 50, the teaching work of the robot 9 is not performed when the accommodation position of the liquid crystal panel 2 in the tray 3 is changed thereafter. Also gets better. Therefore, in this embodiment, it is possible to eliminate the teaching work of the robot 9 when the accommodation position of the liquid crystal panel 2 in the tray 3 changes.

In this embodiment, the inner diameter of the reference hole 29a and the inner diameter of the reference hole 29b of the panel grip portion 29 are different, and the outer diameter of the reference pin 52 and the outer diameter of the reference pin 55 are different. Therefore, in this embodiment, in the first teaching step, it is possible to prevent an operation error such that the reference pin 55 is inserted into the reference hole 29a and the reference pin 52 is inserted into the reference hole 29b. Therefore, in this embodiment, it is possible to prevent an operation error when the first coordinate system and the second coordinate system are associated with each other in the rotation direction in which the vertical direction is the rotation axis direction.

(Other embodiments)
The above-described embodiment is an example of a preferred embodiment of the present invention, but is not limited to this, and various modifications can be made without departing from the scope of the present invention.

In the embodiment described above, the robot 9 is incorporated in the transport system 1 that transports the liquid crystal panel 2 supplied to the processing device 15. However, the robot 9 transports the liquid crystal panel 2 that is discharged from the processing device 15. It may be built into the system. In this case, the robot 9 carries the liquid crystal panel 2 into the tray 3 placed on the tray stages 6 and 7. In this case, the position at which the panel gripper 29 releases the liquid crystal panel 2 in order to store the liquid crystal panel 2 gripped by the panel gripper 29 in the tray 3 on the tray stages 6 and 7 is the panel gripper. 29 target arrival positions.

Further, the robot 9 may be incorporated in a transport system for transporting the liquid crystal panel 2 supplied to the processing device 15 and transporting the liquid crystal panel 2 discharged from the processing device 15. In this case, the robot 9 carries out the liquid crystal panel 2 from the tray 3 placed on the tray stages 6 and 7, and carries the liquid crystal panel 2 into the tray 3 placed on the tray stages 6 and 7. I do. In this case, the position at which the panel gripping portion 29 grips the liquid crystal panel 2 accommodated in the tray 3 on the tray stages 6 and 7 or the liquid crystal panel 2 gripped by the panel gripping portion 29 is the tray stage. The position at which the panel gripping portion 29 releases the liquid crystal panel 2 to be accommodated in the trays 3 on the sixth and seventh positions is the target reaching position of the panel gripping portion 29.

In the above-described form, the teaching jig 50 may not include the reference pin 56. In this case, for example, by instructing the panel gripping portion 29 where the front end surface of any of the reference pins 52 to 54 and the lower surface of the panel gripping portion 29 face each other with a slight gap, The first coordinate system and the second coordinate system in the direction may be associated with each other. In the embodiment described above, the teaching jig 50 may not include the reference pin 55. In this case, for example, two or more reference pins for placing the first coordinate system and the second coordinate system in the rotation direction in which the vertical direction is the axis direction of rotation are placed. It is fixed to the part 51.

In the embodiment described above, one tray 3 is placed on the tray stages 6 and 7, but a plurality of trays 3 may be placed on the tray stages 6 and 7 so as not to overlap each other. In the embodiment described above, the outer diameter of the reference pin 55 is smaller than the outer diameter of the reference pin 52, but the outer diameter of the reference pin 55 may be larger than the outer diameter of the reference pin 52. . Further, the outer diameter of the reference pin 55 and the outer diameter of the reference pin 52 may be equal.

In the above-described form, the robot 9 is a parallel link robot, but the robot 9 may be a horizontal articulated robot. In the embodiment described above, the display panel transported by the robot 9 is the liquid crystal panel 2, but the display panel transported by the robot 9 may be a display panel other than the liquid crystal panel 2. For example, the display panel conveyed by the robot 9 may be an organic EL panel.

2 Liquid crystal panel (display panel)
3 Tray 6, 7 Tray stage 9 Robot 25 Body 26 Lever 27 Arm 28 Head unit (movable part)
29 Panel gripping part 29a Reference hole (first reference hole)
29b Reference hole (second reference hole)
30 motor (rotation drive mechanism)
32 arm 35 moving mechanism 45 control unit 50 teaching jig 51 placement unit 52 reference pin (first reference pin)
53 Reference pin (second reference pin)
54 Reference pin (third reference pin)
55 Reference pin (4th reference pin)
56 Reference pin (5th reference pin)
V 1st direction W 2nd direction

Claims (8)

A robot that performs at least one of carrying out a display panel from a tray placed on a tray stage and carrying a display panel into a tray placed on a tray stage,
A panel gripper for gripping the display panel, a moving mechanism for moving the panel gripper, and a controller for controlling the robot,
A position where the panel gripper grips the display panel accommodated in the tray on the tray stage or the display panel gripped by the panel gripper to accommodate the display panel in the tray on the tray stage; The position at which the panel gripper releases the display panel is set as the target arrival position of the panel gripper, the coordinate system based on the reference point set on the tray stage side is set as the first coordinate system, and is set on the robot side. The coordinate system based on the reference point is the second coordinate system, the coordinates of the target reaching position of the panel gripper represented by the first coordinate system are the first coordinates, and the second coordinate system is used. Assuming that the coordinates of the target arrival position of the panel gripper are the second coordinates, the first coordinate system and the second coordinate system teach the predetermined position on the tray stage side to the panel gripper. It is associated in advance by,
During the operation of the panel gripping unit, the first coordinate is input to the control unit, and the control unit converts the input first coordinate to the second coordinate and moves based on the second coordinate. A robot that controls a mechanism to move the panel gripping unit to a target reaching position of the panel gripping unit. The moving mechanism includes a main body portion, a plurality of levers whose base end sides are rotatably connected to the main body portion, and base end sides of the plurality of levers that are rotatably connected to the distal end sides of the levers. A plurality of arm portions, a movable portion rotatably connected to the distal ends of the plurality of arm portions, and a plurality of rotation drive mechanisms that rotate each of the plurality of levers.
The plurality of levers are coupled to the main body so as to extend radially at substantially equal angular pitches toward the outer periphery of the main body,
The arm portion includes two linear arms parallel to each other,
The base end sides of the two arms are rotatably connected to the distal end side of the lever, and the movable portion is rotatably connected to the distal ends of the two arms.
The robot according to claim 1, wherein the panel gripping part is attached to the movable part. A panel gripper for gripping the display panel; and a moving mechanism for moving the panel gripper. The display panel is unloaded from the tray placed on the tray stage and the tray placed on the tray stage is moved to the tray. A control method of a robot that performs at least one of carrying in a display panel,
A position where the panel gripper grips the display panel accommodated in the tray on the tray stage or the display panel gripped by the panel gripper to accommodate the display panel in the tray on the tray stage; The position at which the panel gripper releases the display panel is set as the target arrival position of the panel gripper, the coordinate system based on the reference point set on the tray stage side is set as the first coordinate system, and is set on the robot side. The coordinate system based on the reference point is the second coordinate system, the coordinates of the target reaching position of the panel gripper represented by the first coordinate system are the first coordinates, and the second coordinate system is used. Assuming that the coordinates of the target arrival position of the panel gripper are the second coordinates, the first coordinate system and the second coordinate system teach the predetermined position on the tray stage side to the panel gripper. It is associated in advance by,
A coordinate input step in which the first coordinate is input; the first coordinate input in the coordinate input step is converted into the second coordinate; and the moving mechanism is controlled based on the second coordinate; A control method for a robot, comprising: a panel gripper operation step for moving the panel gripper to a target reaching position of the panel gripper. A panel gripper for gripping the display panel; and a moving mechanism for moving the panel gripper. The display panel is unloaded from the tray placed on the tray stage and the tray placed on the tray stage is moved to the tray. A teaching jig used during teaching operation of a robot that performs at least one of carrying in a display panel,
A plate-like placement portion placed on the tray stage, and a first reference pin that rises from one surface in the thickness direction of the placement portion toward one side in the thickness direction of the placement portion, A second reference pin and a third reference pin;
When the predetermined direction orthogonal to the thickness direction of the mounting portion is the first direction, and the direction orthogonal to the thickness direction of the mounting portion and the first direction is the second direction,
The outer diameter of the first reference pin, the outer diameter of the second reference pin, and the outer diameter of the third reference pin are equal.
The second reference pin is disposed at a position shifted from the first reference pin in the first direction, and the third reference pin is disposed at a position shifted from the first reference pin in the second direction. A teaching jig characterized by A fourth reference pin that rises from one surface in the thickness direction of the placement portion toward one side in the thickness direction of the placement portion;
The fourth reference pin is disposed adjacent to the first reference pin,
The distance between the first reference pin and the fourth reference pin is shorter than the distance between the first reference pin and the second reference pin and the distance between the first reference pin and the third reference pin. The teaching jig according to claim 4. 6. The teaching jig according to claim 5, wherein an outer diameter of the first reference pin is different from an outer diameter of the fourth reference pin. A fifth reference pin that rises from one surface in the thickness direction of the mounting portion to one side in the thickness direction of the mounting portion;
7. The teaching jig according to claim 4, wherein a tip end surface of the fifth reference pin is a plane orthogonal to the thickness direction of the mounting portion. A robot teaching method using the teaching jig according to any one of claims 4 to 7,
The first reference pin of the teaching jig placed on the tray stage is inserted into the first reference hole formed in the panel gripping portion, and the second reference is formed in the panel gripping portion. A position where the fourth reference pin of the teaching jig placed on the tray stage is inserted into the hole, and the second reference pin of the teaching jig placed on the tray stage is the hole Teach the panel gripper the position to be inserted into the first reference hole and the position at which the third reference pin of the teaching jig placed on the tray stage is inserted into the first reference hole. A robot teaching method characterized by the above.

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