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WO2019065202A1 - Système de transport - Google Patents

Système de transport Download PDF

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Publication number
WO2019065202A1
WO2019065202A1 PCT/JP2018/033540 JP2018033540W WO2019065202A1 WO 2019065202 A1 WO2019065202 A1 WO 2019065202A1 JP 2018033540 W JP2018033540 W JP 2018033540W WO 2019065202 A1 WO2019065202 A1 WO 2019065202A1
Authority
WO
WIPO (PCT)
Prior art keywords
tray
unit
uppermost
disposed
arrangement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2018/033540
Other languages
English (en)
Japanese (ja)
Inventor
佐藤　史朗
昌輝 久保田
正 荒井
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nidec Instruments Corp
Original Assignee
Nidec Sankyo Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nidec Sankyo Corp filed Critical Nidec Sankyo Corp
Priority to CN201880060901.6A priority Critical patent/CN111094157A/zh
Publication of WO2019065202A1 publication Critical patent/WO2019065202A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/03—Stacking of articles by adding to the top of the stack from above
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack

Definitions

  • the present invention relates to a transport system for transporting a display panel such as a liquid crystal panel.
  • an inspection apparatus for inspecting the lighting of a liquid crystal panel is known (see, for example, Patent Document 1).
  • the inspection apparatus described in Patent Document 1 is incorporated in the middle of a liquid crystal display manufacturing system.
  • This inspection apparatus includes a prober for inspecting the lighting of the liquid crystal panel, a carry-in side conveyor for carrying the liquid crystal panel before the test toward the prober, and a carry-in mechanism for carrying the liquid crystal panel carried by the carry-in conveyor into the prober. It has an unloading mechanism for unloading the liquid crystal panel after inspection from the prober, and an unloading conveyor for transporting the liquid crystal panel unloaded by the unloading mechanism.
  • the time for loading and unloading the liquid crystal panel with respect to the inspection device be short in order to shorten the tact time of the manufacturing system.
  • the transfer system of the present invention is a transfer system for carrying in a display panel to an inspection apparatus for inspecting a display panel and carrying out a display panel from an inspection apparatus.
  • the tray on which the tray on which the tray on which the trays are stored can be arranged in a plurality of stacked stages and the trays in which the display panels determined to be normal in the inspection by the inspection device are accommodated are arranged are arranged.
  • the first discharge side tray arrangement part which can be arranged, and the second discharge side tray arrangement part which can be arranged in a state in which the trays in which the display panels determined to be abnormal in the inspection by the inspection apparatus are accommodated are stacked in multiple stages;
  • the robot transport robot transports the display panel in the tray arranged at the top of the supply side tray arrangement unit to the inspection device, and the display panel after inspection from the inspection device
  • the tray transport robot conveys the sheet into the tray disposed in the upper row or in the tray disposed in the uppermost row of the second discharge side tray arrangement portion, and when the tray in the uppermost row of the supply side tray arrangement portion becomes empty,
  • the empty tray arrangement is arranged.
  • the empty trays are transported from the unit to the first discharge side tray arrangement unit, stacked on the uppermost tray of the first discharge side tray arrangement unit, and predetermined on the uppermost tray of the second discharge side tray arrangement unit
  • the number of display panels is accommodated Are the, characterized in that overlie the uppermost tray of the second discharge-side tray disposed portion conveys the empty tray to the second discharge-side tray disposed portion with an empty tray placement portion.
  • the transport system comprises a supply side tray arrangement unit, a first discharge side tray arrangement unit, a second discharge side tray arrangement unit, an empty tray arrangement unit, and a tray conveyance robot for conveying trays.
  • the tray conveyance robot conveys the empty tray from the supply-side tray arrangement portion to the empty tray arrangement portion, and (1)
  • the empty tray is conveyed from the empty tray arrangement portion to the first discharge side tray arrangement portion to carry out the first discharge side tray arrangement portion
  • the empty tray arrangement portion to the second discharge side tray arrangement portion is empty.
  • the tray of the above is conveyed and stacked on the uppermost tray of the second discharge side tray arrangement portion.
  • the present invention when the uppermost tray of the supply side tray arrangement part becomes empty, there is no need to take out the empty tray to the outside of the transport system, and the first discharge side tray arrangement part When a predetermined number of display panels are accommodated in the uppermost tray of the second tray and the uppermost tray of the second ejection tray arrangement portion, an empty tray is placed from the outside of the transfer system to the first ejection tray arrangement portion or the second tray. It is possible to eliminate the need to supply the discharge side tray arrangement. That is, according to the present invention, it is not necessary to take time for taking out the emptied tray to the outside of the transfer system or supplying an empty tray from the outside of the transfer system after the loading and unloading of the display panel to the inspection apparatus is started.
  • the present invention it is possible to automatically convey the tray from the supply side tray arrangement part to the empty tray arrangement part by the tray conveyance robot, and at the same time, the first discharge side tray arrangement part and the second discharge side tray arrangement part It is possible to automatically convey the tray from the empty tray arrangement unit. Therefore, according to the present invention, it is possible to shorten the time for loading and unloading the display panel with respect to the inspection apparatus.
  • the supply side tray arrangement part, the first discharge side tray arrangement part, the second discharge side tray arrangement part, and the empty tray arrangement part are arranged in a line, and the empty tray arrangement part and the supply side tray arrangement part It is preferable that the first discharge side tray arrangement portion and the second discharge side tray arrangement portion are arranged in this order.
  • the tray conveyance robot is provided with the tray as compared to the case where the supply side tray arranging unit, the first discharge side tray arranging unit, the second discharge side tray arranging unit, and the empty tray arranging unit are randomly arranged. It becomes possible to shorten the tray transport time.
  • the tray of the supply side tray arrangement unit can be Transfer distance of the display panel by the panel transfer robot to the delivery unit, transfer distance of the display panel by the panel transfer robot from the delivery unit of the inspection apparatus to the first discharge side tray arrangement unit, and second discharge from the transfer unit of the inspection apparatus It is possible to shorten the overall transfer distance of the display panel with the transfer distance of the display panel by the panel transfer robot up to the side tray arrangement portion. Therefore, it is possible to further shorten the loading and unloading time of the display panel with respect to the inspection apparatus.
  • the arrangement direction of the empty tray arrangement part, the supply side tray arrangement part, the first discharge side tray arrangement part and the second discharge side tray arrangement part is the left and right direction
  • the direction perpendicular to the vertical direction and the left and right direction is the front and back
  • the panel transport robot is disposed behind the empty tray placement part, the supply side tray placement part, the first discharge side tray placement part and the second discharge side tray placement part, and the stacked trays are supplied
  • the trays which are supplied from the front side to the side tray arrangement part and stacked in layers are taken out from the first discharge side tray arrangement part and the second discharge side tray arrangement part to the front side.
  • the tray supply operation to the supply side tray arrangement portion is facilitated.
  • the panel transport robot is not disposed on the front side of the first discharge side tray arrangement portion and the second discharge side tray arrangement portion when configured as described above, the work of removing the tray from the first discharge side tray arrangement portion and It becomes easy to take out the tray from the second discharge side tray arrangement part.
  • the supply side tray arrangement unit, the first discharge side tray arrangement unit, the second discharge side tray arrangement unit, and the empty tray arrangement unit have a tray lifting mechanism for moving the tray up and down.
  • the vertical position of the uppermost tray of the supply side tray arrangement portion is kept constant, and the vertical position of the uppermost tray of the first discharge side tray arrangement portion is kept constant, It is possible to keep the vertical position of the uppermost tray of the second discharge side tray arrangement portion constant and keep the vertical position of the uppermost tray of the empty tray arrangement portion constant. Therefore, the control of the tray transfer robot can be simplified as compared with the case where the position of the uppermost tray in the vertical direction changes according to the number of trays disposed, and the control of the panel transfer robot is controlled. It will be possible to simplify the
  • the supply tray arrangement portion and the empty tray arrangement portion are disposed at the uppermost tray and the uppermost tray in order to separate the uppermost tray from the second uppermost tray.
  • the movable pin is inserted between the second tray and the tray.
  • the supply-side tray arranging unit includes a tray lifting mechanism for raising and lowering the tray, and the movable pins of the supply-side tray arranging unit are provided at three or more places so as to support the tray arranged at the uppermost stage from below.
  • the tray lifting mechanism is disposed at the uppermost stage by lowering the stacked trays when the movable pin enters between the tray disposed at the uppermost stage and the tray secondly disposed from the top.
  • the movable tray supports the movable tray and forms a gap between the tray disposed at the top and the tray secondly disposed from the top, and the panel transport robot It is preferable to hold the display panel in the tray disposed at the uppermost stage of the supply side tray arrangement portion in a state where a gap is formed between the second tray and the second tray.
  • the supply-side tray arrangement unit detects the uppermost tray at a position where the movable pin can be inserted between the uppermost tray and the second uppermost tray. It is preferable to provide a first sensor for detecting the top tray supported by the movable pin and a second sensor for detecting the uppermost tray supported by the movable pin. According to this structure, the first sensor is used to stack the movable pins at a position where the movable pin can be inserted between the tray disposed at the top and the tray disposed second from the top. The tray can be stopped and the second sensor can be used to confirm that the uppermost tray is supported by the movable pin.
  • the supply side tray arranging unit, the first discharge side tray arranging unit, and the second discharge side tray arranging unit have a positioning mechanism for positioning the tray in the horizontal direction.
  • the transport system includes a cassette arranging unit in which cassettes are accommodated so that a plurality of display panels before inspection are vertically overlapped in a state of being spaced apart in the vertical direction, and the cassette arranging unit
  • the panel transport robot is disposed at a position where the display panel can be transported from the cassette disposed in the cassette placement unit to the inspection apparatus.
  • the transport system for carrying in the display panel to the inspection apparatus for inspecting the display panel and carrying out the display panel from the inspection apparatus the transport system for carrying the display panel into and out of the inspection apparatus. It becomes possible to shorten time.
  • FIG. 1 It is a perspective view of a conveyance system concerning an embodiment of the invention. It is a figure for demonstrating the conveyance system shown in FIG. 1 from an upper surface. It is a front view of the panel conveyance robot shown in FIG. It is a side view of the tray conveyance robot shown in FIG. It is a perspective view of the supply side tray arrangement
  • FIG. 6 is a view for explaining the separation operation of the tray disposed at the uppermost stage in the supply side tray arranging unit shown in FIG. 5; It is a figure for demonstrating the structure of the empty tray arrangement
  • FIG. 1 is a perspective view of a transport system 1 according to an embodiment of the present invention.
  • FIG. 2 is a view for explaining the transport system 1 shown in FIG. 1 from the top.
  • the transport system 1 of the present embodiment is used by being incorporated into a manufacturing line of a relatively small liquid crystal display used in a portable device or the like.
  • the transport system 1 transports a liquid crystal panel 2 which is a display panel.
  • the transport system 1 carries in the liquid crystal panel 2 to the inspection device 3 which inspects the liquid crystal panel 2 and carries out the liquid crystal panel 2 from the inspection device 3.
  • the liquid crystal panel 2 is formed in a rectangular flat plate shape.
  • the liquid crystal panel 2 before the inspection by the inspection device 3 is accommodated in the tray 4 or the cassette 5 according to the size of the liquid crystal panel 2 to be inspected.
  • the relatively large liquid crystal panel 2 is accommodated in the tray 4, and the relatively small liquid crystal panel 2 is accommodated in the cassette 5.
  • the liquid crystal panel 2 after the inspection by the inspection device 3 is accommodated in the tray 4.
  • a plurality of liquid crystal panels 2 are accommodated in the tray 4 in a state where they do not overlap in the vertical direction.
  • a plurality of liquid crystal panels 2 are accommodated in the cassette 5 so as to overlap in the vertical direction in a state of being spaced apart in the vertical direction.
  • the tray 4 is formed in a substantially rectangular flat plate shape, and a recess in which the liquid crystal panel 2 is accommodated is formed on the upper surface of the tray 4. Further, the tray 4 is formed of a relatively low rigidity resin. Further, in FIG. 1, the illustration of the tray 4 and the cassette 5 is omitted.
  • the transport system 1 includes a tray arrangement portion 6 which can be disposed in a state where the trays 4 in which the liquid crystal panels 2 before the inspection are accommodated are stacked in multiple stages, and the liquid crystal panels 2 determined to be normal in the inspection by the inspection device 3.
  • an empty tray 4 which can be arranged in a plurality of stacked stages.
  • the transport system 1 further includes a robot 11 for transporting the liquid crystal panel 2, a robot 12 for transporting the tray 4, and a cassette placement unit 13 in which the cassette 5 containing the plurality of liquid crystal panels 2 is placed.
  • the tray arrangement unit 6 of this embodiment is a supply side tray arrangement unit
  • the tray arrangement unit 7 is a first discharge side tray arrangement unit
  • the tray arrangement unit 8 is a second discharge side tray arrangement unit. Is an empty tray arrangement part.
  • the robot 11 of the present embodiment is a panel transfer robot
  • the robot 12 is a tray transfer robot.
  • the tray arranging unit 6, the tray arranging unit 7, the tray arranging unit 8 and the tray arranging unit 9 are arranged in a line.
  • the tray placement units 6 to 9 are installed on the gantry 14.
  • a main body frame (not shown) of the transport system 1 is fixed on the gantry 14.
  • the arrangement direction (X direction in FIG. 1 etc.) of the tray arrangement parts 6 to 9 is the left and right direction
  • the Y direction in FIG. 1 etc. orthogonal to the vertical direction and the left and right direction is the front and back direction.
  • the X1 direction side in FIG. 1 etc. in the left and right direction is the “right” side
  • the X2 direction side in FIG. 1 etc. in the opposite side is the “left” side, Y1 in FIG.
  • the inspection device 3 of the present embodiment is a lighting inspection device which performs lighting inspection of the liquid crystal panel 2.
  • the inspection apparatus 3 has, for example, a panel holding unit having two panel mounting units 15 on which the liquid crystal panel 2 is mounted, a rotation mechanism that rotates the panel holding unit with the vertical axis as the rotation axial direction, and the liquid crystal panel And a case where the inside becomes a dark room at the time of the lighting inspection of 2.
  • a backlight and a camera for inspecting the lighting of the liquid crystal panel 2 are installed inside the housing.
  • the rotation mechanism has a position where one panel mounting portion 15 of the two panel mounting portions 15 is disposed outside the housing and the other panel mounting portion 15 is disposed inside the housing. The panel holding portion is rotated between the position where one panel mounting portion 15 is disposed inside the housing and the other panel mounting portion 15 is disposed outside the housing.
  • the tray arrangement unit 6, the tray arrangement unit 7, the tray arrangement unit 8, and the tray arrangement unit 9 are arranged in a line in the left-right direction.
  • the tray arranging unit 9, the tray arranging unit 6, the tray arranging unit 7, and the tray arranging unit 8 are arranged in this order.
  • the tray arrangement unit 9, the tray arrangement unit 6, the tray arrangement unit 7, and the tray arrangement unit 8 are arranged in this order from the left to the right.
  • the robot 12 is disposed on the upper side of the tray placement units 6 to 9.
  • the robot 11 is disposed behind the tray placement units 6 to 9. Further, the robot 11 is disposed behind the tray arrangement unit 7.
  • the inspection device 3 is disposed behind the robot 11. In addition, the inspection device 3 is disposed on the rear side of the tray disposition units 6 to 8. The panel placement unit 15 of the inspection device 3 is disposed behind the robot 11. The cassette placement unit 13 is disposed behind the tray placement unit 6. The cassette placement unit 13 is disposed on the front side of the inspection device 3 and on the left side of the robot 11. The cassette placement unit 13 is placed at a position where the robot 11 can transport the liquid crystal panel 2 from the cassette 5 placed in the cassette placement unit 13 to the panel placement unit 15 of the inspection apparatus 3.
  • FIG. 3 is a front view of the robot 11 shown in FIG.
  • FIG. 4 is a side view of the robot 12 shown in FIG.
  • the robot 11 is a six-axis vertical articulated robot.
  • the robot 11 includes a support member 19 constituting a lower end portion of the robot 11, a joint unit 20 rotatably connected to the support member 19, and a joint unit 21 rotatably connected to the joint unit 20.
  • a straight arm 22 whose base end is fixed to the joint 21; a joint 23 fixed to the tip of the arm 22; a joint 24 connected to the joint 23 so as to be rotatable relative to the joint 23;
  • a straight arm 25 whose proximal end is relatively rotatably coupled to the joint 24, a joint 26 to which the tip of the arm 25 is fixed, a joint 27 relatively movably connected to the joint 26, and a joint
  • a panel holding mechanism 28 rotatably connected to the portion 27 and holding the liquid crystal panel 2.
  • the joints 20, 21, 23, 24, 26, 27 include a motor and a reduction gear that decelerates and transmits the power of the motor.
  • the joint portion 20 is connected to the support member 19 so as to be able to rotate with the vertical direction as the axial direction of rotation.
  • the joint portion 21 is connected to the joint portion 20 so as to be able to rotate with the horizontal direction as the axial direction of rotation.
  • the joint portion 24 is connected to the joint portion 23 so as to be able to rotate with the horizontal direction as the axial direction of rotation.
  • the joint portion 27 is connected to the joint portion 26 so as to be able to rotate with the horizontal direction as the axial direction of rotation.
  • the axial direction of rotation of the joint 21 with respect to the joint 20 and the axial direction of rotation of the joint 24 with respect to the joint 23 are orthogonal to the longitudinal direction of the arm 22.
  • the axial direction of rotation of the joint 24 with respect to the joint 23 and the axial direction of rotation of the joint 27 with respect to the joint 26 are orthogonal to the longitudinal direction of the arm 25.
  • the axial direction of rotation of the joint 24 with respect to the joint 23 and the axial direction of rotation of the arm 25 with respect to the joint 24 are orthogonal to each other.
  • the axial direction of the rotation of the joint 27 with respect to the joint 26 and the axial direction of the rotation of the panel holding mechanism 28 with respect to the joint 27 are orthogonal to each other.
  • the panel holding mechanism 28 includes a panel holding portion 28 a that sucks and holds the liquid crystal panel 2.
  • the panel holding unit 28 a holds one liquid crystal panel 2.
  • a plurality of suction holes are formed in the panel holding portion 28a.
  • An air suction mechanism such as a vacuum pump is connected to the plurality of suction holes via a predetermined pipe. In FIGS. 1 and 2, the panel holding portion 28a is not shown.
  • the robot 12 is a so-called two-axis orthogonal robot.
  • the robot 12 has a fixed frame 31 fixed to the gantry 14, a movable frame 32 held by the fixed frame 31 so as to be slidable in the lateral direction with respect to the fixed frame 31, and a movable frame 32.
  • the movable frame 33 is held by the movable frame 32 so as to be vertically slidable, and the tray holding unit 34 is attached to the movable frame 33.
  • the robot 12 has a drive mechanism for sliding the movable frame 32 in the lateral direction, a guide mechanism for guiding the movable frame 32 in the lateral direction, a drive mechanism for sliding the movable frame 33 in the vertical direction, and the movable frame 33 up and down. And a guide mechanism for guiding in a direction.
  • the fixed frame 31 is disposed on the upper side of the front end portions of the tray placement portions 6-9.
  • the movable frame 32 is attached to the upper surface side of the fixed frame 31. Further, the movable frame 32 extends rearward from the fixed frame 31.
  • the movable frame 33 is attached to the rear end of the movable frame 32.
  • the tray holding portion 34 is attached to the lower end of the movable frame 33. As shown in FIG. 4, the tray holding unit 34 includes a plurality of suction units 35 that suck and hold the tray 4.
  • An air suction mechanism such as a vacuum pump is connected to the suction unit 35 through a predetermined pipe. The suction unit 35 contacts the upper surface of the tray 4 to vacuum suction the tray 4.
  • the cassette placement unit 13 includes a cassette holding unit 36 that holds the cassette 5.
  • the cassette holding portion 36 is rotatable with the front-rear direction as an axial direction of rotation and the lower end of the cassette holding portion 36 as a rotation center.
  • a worker manually sets the cassette 5 in the cassette holding unit 36.
  • the cassette holding portion 36 is rotated to a position where the vertical direction substantially coincides with the vertical direction, the cassette holding portion 36 is fixed.
  • FIG. 5 is a perspective view of the tray placement unit 6 shown in FIG. 6 is a plan view of the tray placement unit 6 shown in FIG.
  • FIG. 7 is a diagram for describing the configuration of the tray placement unit 6 shown in FIG. 5 from the front.
  • FIG. 8 is a diagram for describing the configuration of the tray placement unit 6 shown in FIG. 5 from the side.
  • the tray arrangement portion 6 the trays 4 are arranged in a state of being stacked in a plurality of stages (stacked state).
  • the tray arranging unit 6 includes two side plates 38 constituting the left and right side surfaces of the tray arranging unit 6 and a rear side plate 39 constituting the rear surface of the tray arranging unit 6, and the upper surface and the front surface of the tray arranging unit 6 Is open.
  • the tray placement unit 6 includes a placement plate 40 on which the tray 4 placed at the bottom of the trays 4 placed in the tray placement unit 6 is placed. That is, the tray arrangement unit 6 includes the placement plate 40 on which the tray 4 disposed at the bottom of the stacked trays 4 is placed.
  • positioning part 6 is provided with the base member 41 by which the mounting board 40 is mounted, and the support frame 42 to which the base member 41 is slidably attached.
  • the tray placement unit 6 includes a slide mechanism 43 that slides the base member 41 with respect to the support frame 42.
  • the slide mechanism 43 slides the base member 41 in the front-rear direction with respect to the support frame 42.
  • the tray placement portion 6 has a lock mechanism 44 for locking the base member 41 at one end side (specifically, the rear end side in the slide direction) of the base member 41 in the sliding direction with respect to the support frame 42;
  • a lock mechanism 45 is provided to lock the base member 41 on the other end side (specifically, the front end side in the slide direction) of the base member 41 in the sliding direction with respect to 42 (see FIG. 6).
  • the tray placement unit 6 includes an elevating mechanism 46 that raises and lowers the support frame 42. That is, the tray placement unit 6 includes the base member 41, the placement plate 40, and the elevating mechanism 46 that raises and lowers the tray 4.
  • the lifting mechanism 46 of this embodiment is a tray lifting mechanism.
  • the tray placement unit 6 includes a cylinder 47 for positioning the tray 4 in the horizontal direction. That is, the tray arrangement unit 6 includes a cylinder 47 for positioning the tray 4 placed on the placement plate 40 in the front-rear direction and the left-right direction.
  • the tray placement unit 6 includes a pin cylinder 50 for separating the tray 4 disposed at the top and the tray 4 disposed second from the top.
  • the tray arrangement unit 6 of the present embodiment is provided with four pin cylinders 50.
  • the tray placement unit 6 is provided with sensors 51 to 53 for detecting the tray 4 placed at the top.
  • the sensor 51 is a sensor for detecting the upper limit position of the uppermost tray 4.
  • the sensor 52 is a sensor for detecting the uppermost tray 4 supported by the movable pin 89 of the pin cylinder 50 as described later.
  • the sensor 53 is a sensor for stopping the uppermost tray 4 of the stacked trays 4 lifted by the lifting mechanism 46 at the upper limit position.
  • the sensor 51 of this embodiment is a first sensor
  • the sensor 52 is a second sensor.
  • the tray placement unit 7 and the tray placement unit 8 are configured in the same manner. Further, the tray arranging units 7 and 8 are configured in the same manner as the tray arranging unit 6 except that the tray arranging units 7 and 8 do not include the pin cylinder 50 and the sensors 52 and 53. Therefore, the description of the specific configuration of the tray placement units 7 and 8 is omitted.
  • the tray arranging unit 9 includes the cylinder 47 and the sensors 52, 53 in that the tray arranging unit 9 does not include the mounting plate 40, the base member 41, the slide mechanism 43 and the locking mechanisms 44, 45.
  • the configuration is substantially the same as that of the tray placement unit 6 except that the tray placement unit 9 includes two pin cylinders 50, and the point that the tray placement unit 9 has two.
  • the specific configuration of the tray arranging unit 9 will be described focusing on differences from the tray arranging unit 6.
  • FIG. 9 is a front view of the configuration of the mounting plate 40, the base member 41, the support frame 42, the slide mechanism 43, etc. shown in FIG.
  • FIG. 10 is a view for explaining the movement of the slide mechanism 43 shown in FIG. 11 (A) and 11 (B) are front views of the peripheral portion of the pin cylinder 50 shown in FIG. 5, and FIGS. 11 (C) and 11 (D) are peripheral portions of the sensors 51 to 53 shown in FIG. It is a front view.
  • FIG. 12 is a diagram for explaining the separation operation of the tray 4 disposed in the uppermost stage in the tray arrangement unit 6 shown in FIG.
  • FIG. 13 is a diagram for describing the configuration of the tray placement unit 9 shown in FIG. 1 from the front.
  • FIG. 14 is a diagram for describing the configuration of the tray placement unit 9 shown in FIG. 1 from the side.
  • the mounting plate 40 is formed in a substantially rectangular flat plate shape.
  • the thickness direction of the mounting plate 40 matches the vertical direction, and the direction of the long side of the mounting plate 40 formed in a substantially rectangular shape matches the front-rear direction.
  • the placement plate 40 is disposed on the right side of the side plate 38 disposed on the left side, and is disposed on the left side of the side plate 38 disposed on the right side.
  • the mounting plate 40 is formed of resin.
  • the rigidity of the mounting plate 40 is higher than the rigidity of the tray 4.
  • the mounting plate 40 is formed of nylon.
  • two through holes 40a penetrating the mounting plate 40 in the vertical direction are formed in a state of being spaced in the front-rear direction.
  • the two through holes 40a are formed in a substantially rectangular shape.
  • Pins 56 for positioning the tray 4 in the horizontal direction are fixed to two corner portions on the rear end side of the placement plate 40.
  • the pins 56 project upward from the upper surface of the mounting plate 40.
  • a plurality of pins 55 for positioning the mounting plate 40 with respect to the base member 41 are fixed (see FIG. 6).
  • the pins 55 are provided at the center of the mounting plate 40, at two positions on the left and right ends of the front end of the mounting plate 40, and at two positions on the left and right ends of the rear end of the mounting plate 40. It is fixed. That is, five pins 55 are fixed to the lower surface of the mounting plate 40. The pins 55 project downward from the lower surface of the mounting plate 40.
  • the tray 4 is formed in a substantially rectangular flat plate shape as described above.
  • the tray 4 is placed on the placement plate 40 such that the direction of the long side of the tray 4 coincides with the front-rear direction.
  • the outer shape of the tray 4 and the outer shape of the mounting plate 40 are substantially equal.
  • At the lower end portion of the tray 4 is formed a flange portion 4a which spreads to the outer peripheral side of the tray 4 (see FIG. 12).
  • the collar 4 a is formed in a substantially rectangular frame shape.
  • the two corner portions on the rear end side of the tray 4 placed on the mounting plate 40 that is, the two corner portions on the rear end side of the collar portion 4a
  • It is the inclined surface 4b which inclines toward the direction (refer FIG. 6).
  • the base member 41 is disposed on the right side of the side plate 38 disposed on the left side, and is disposed on the left side of the side plate 38 disposed on the right side.
  • the base member 41 includes a base plate 57 on which the mounting plate 40 is detachably mounted, and two rail fixing plates 58 to which a third rail 69 described later constituting the slide mechanism 43 is fixed.
  • the base plate 57 is formed in a substantially rectangular flat plate shape, and is arranged such that the thickness direction of the base plate 57 coincides with the vertical direction.
  • the length of the base plate 57 in the front-rear direction is substantially equal to the length of the mounting plate 40 in the front-rear direction.
  • the width in the left-right direction of the base plate 57 is narrower than the width in the left-right direction of the mounting plate 40.
  • the base plate 57 In the base plate 57, two substantially rectangular through holes 57a penetrating the base plate 57 in the vertical direction are formed in a state of being spaced in the front-rear direction (see FIG. 6). Further, the base plate 57 has two insertion holes into which the pin 55 fixed to the center of the mounting plate 40 is inserted and the pins 55 fixed to the left and right ends of the rear end portion of the mounting plate 40. And an insertion hole into which is inserted. In the present embodiment, the operator manually slides the base member 41 relative to the support frame 42. On the front end side of the lower surface of the base plate 57, a handle 59 which an operator grips when sliding the base member 41 with respect to the support frame 42 is fixed. The pins 55 fixed at two places on the left and right ends of the front end portion of the mounting plate 40 are in contact with the left and right end surfaces of the base plate 57.
  • a lock plate 60 for locking the base member 41 with respect to the support frame 42 is fixed.
  • the lock plate 60 is formed in a flat plate shape, and is arranged such that the thickness direction of the lock plate 60 coincides with the left-right direction.
  • the lock plate 60 is fixed to the right end side of the base plate 57.
  • the front side portion of the lower surface of the lock plate 60 is an inclined surface 60a which inclines upward toward the front side
  • the rear side portion of the lower surface of the lock plate 60 is the rear side It becomes an inclined surface 60b which inclines toward the upper side as it goes to.
  • a slight plane perpendicular to the vertical direction is formed between the inclined surface 60a and the inclined surface 60b (see FIG. 8).
  • the rail fixing plate 58 is formed in a rectangular flat plate shape that is elongated in the front-rear direction.
  • the rail fixing plate 58 is arranged such that the thickness direction of the rail fixing plate 58 matches the left-right direction.
  • the rail fixing plate 58 is fixed to the lower surface of the base plate 57. Further, each of the two rail fixing plates 58 is fixed to each of both end sides of the base plate 57 in the left-right direction.
  • the length of the rail fixing plate 58 in the front-rear direction is longer than the length of the base plate 57 in the front-rear direction.
  • the front end of the rail fixing plate 58 is disposed forward of the front end of the base plate 57, and the rear end of the rail fixing plate 58 is disposed rearward of the rear end of the base plate 57.
  • the support frame 42 is disposed on the right side of the side plate 38 disposed on the left side, and is disposed on the left side of the side plate 38 disposed on the right side.
  • the support frame 42 is fixed to two rail fixing plates 61 to which a first rail 67 described later constituting the slide mechanism 43 is fixed, a support plate 62 to which the rail fixing plate 61 is fixed, and the support plate 62 A base plate 63 and two reinforcing plates 64 are provided.
  • the support plate 62 is formed in a substantially rectangular flat plate shape.
  • the support plate 62 is disposed such that the thickness direction of the support plate 62 coincides with the vertical direction.
  • the length of the support plate 62 in the front-rear direction is longer than the length of the base plate 57 in the front-rear direction.
  • the width in the left-right direction of the support plate 62 is narrower than the distance between the two rail fixing plates 58 in the left-right direction.
  • the support plate 62 is formed with a notch 62 a that is cut out toward the rear side from the front end of the support plate 62. Further, in the support plate 62, one substantially rectangular through hole 62b penetrating the support plate 62 in the vertical direction is formed (see FIG. 6).
  • the through hole 62b is disposed on the rear side of the notch 62a.
  • the rail fixing plate 61 is formed in a rectangular flat plate shape elongated in the front-rear direction.
  • the rail fixing plate 61 is disposed such that the thickness direction of the rail fixing plate 61 matches the left-right direction.
  • the rail fixing plate 61 is fixed to the upper surface of the support plate 62. Further, each of the two rail fixing plates 61 is fixed to each of both end sides of the support plate 62 in the left-right direction.
  • the two rail fixing plates 61 are disposed on the inner side in the left-right direction of the two rail fixing plates 58.
  • the length of the rail fixing plate 61 in the front-rear direction is longer than the length of the support plate 62 in the front-rear direction.
  • the front end of the rail fixing plate 61 is disposed at the same position as the front end of the support plate 62 in the front-rear direction, and the rear end of the rail fixing plate 61 is disposed behind the rear end of the support plate 62.
  • the base plate 63 is formed in a rectangular flat plate shape, and is disposed such that the thickness direction of the base plate 63 matches the front-rear direction.
  • the base plate 63 is fixed to the rear end portion of the lower surface of the support plate 62.
  • the reinforcing plate 64 is a reinforcing rib for securing the fixing strength between the support plate 62 and the base plate 63.
  • the reinforcing plate 64 is formed in a substantially isosceles trapezoidal flat plate shape, and is arranged such that the thickness direction of the reinforcing plate 64 matches the left-right direction.
  • the rear end surface of the reinforcing plate 64 is fixed to the front surface of the base plate 63, and the upper end surface of the reinforcing plate 64 is fixed to the lower surface of the support plate 62.
  • the illustration of the two reinforcing plates 64 is omitted.
  • the slide mechanism 43 is a so-called double slide rail, and as shown in FIG. 9 and FIG. 10, the first rail 67 fixed to the rail fixing plate 61 and the first rail to be able to slide in the front and rear direction A second rail 68 held at 67 and a third rail 69 held by the second rail 68 and fixed to the rail fixing plate 58 so as to be slidable in the front-rear direction. Ball bearings are disposed between the first rail 67 and the second rail 68 and between the second rail 68 and the third rail 69.
  • the slide mechanism 43 may be a single slide rail.
  • the length (length in the front-rear direction) of the second rail 68 is slightly longer than the length of the third rail 69.
  • the length of the first rail 67 is about twice that of the second rail 68.
  • the first rail 67 is fixed to the right side surface of the rail fixing plate 61 disposed on the right side, and is fixed to the left side surface of the rail fixing plate 61 disposed on the left side.
  • the third rail 69 is fixed to the left side surface of the rail fixing plate 58 disposed on the right side, and is fixed to the right side surface of the rail fixing plate 58 disposed on the left side. Further, the third rail 69 is fixed to the rear end of the rail fixing plate 58.
  • the lock mechanism 44 includes a stopper 70 for restricting the rearward movement of the base member 41, a roller 71 in contact with the lock plate 60, and a lever for rotatably holding the roller 71 at one end.
  • a member 72 and a holding member 73 for rotatably holding the other end side of the lever member 72 are provided.
  • the stopper 70 is formed in a thick disk shape, and is arranged such that the thickness direction of the stopper 70 coincides with the front-rear direction.
  • the stopper 70 is formed of, for example, rubber.
  • the stopper 70 is fixed to the fixing member 74.
  • the fixing member 74 is fixed to the left end side of the rear end of the support plate 62.
  • the stopper 70 is disposed above the support plate 62 and below the base plate 57. In addition, the stopper 70 is disposed immediately to the right of the rail fixing plate 61 disposed on the left side. A flat contact plate 75 in contact with the front end surface of the stopper 70 is fixed to the left end side of the rear end portion of the lower surface of the base plate 57 (see FIG. 9).
  • the holding member 73 is fixed to the rear end side and the right end side of the upper surface of the support plate 62.
  • the front end portion of the lever member 72 is held by the holding member 73 so as to be able to turn in the lateral direction as the axial direction of the turn.
  • the roller 71 is held at the rear end portion of the lever member 72 so as to be rotatable with the left and right direction as the axial direction of rotation.
  • the lever member 72 is biased upward by a compression coil spring 76 (see FIG. 6) disposed behind the rotation center of the lever member 72. That is, the lever member 72 is biased in the counterclockwise direction (counterclockwise direction) in FIG. 8 by the biasing force of the compression coil spring 76.
  • the lock mechanism 45 includes the stopper 70, the roller 71, the lever member 72, and the holding member 73.
  • the stopper 70 regulates the forward movement of the base member 41.
  • the stopper 70 is fixed to the fixing member 77, and the fixing member 77 is fixed to the front end side and the left end side of the upper surface of the support plate 62.
  • the front surface of the contact plate 75 contacts the rear end surface of the stopper 70.
  • the holding member 73 is fixed to the front end side and the right end side of the upper surface of the support plate 62.
  • the rear end portion of the lever member 72 is held by the holding member 73 so as to be able to turn in the lateral direction as the axial direction of rotation, and the roller 71 can rotate in the lateral direction as the axial direction of rotation. It is hold
  • the lever member 72 is biased upward by a compression coil spring 76 disposed on the front side of the pivoting center of the lever member 72. That is, the lever member 72 is biased in the clockwise direction (clockwise direction) in FIG. 8 by the biasing force of the compression coil spring 76.
  • the base member 41 is retracted such that the front end of the tray 4 mounted on the mounting plate 40 and the front end of the mounting plate 40 are disposed behind the front end of the side plate 38 and the base member 41 is locked by the locking mechanism 44 5, 6 and 8, the rear end of the tray 4 placed on the mounting plate 40 and the rear end of the mounting plate 40 on the front side of the front end of the side plate 38
  • the base member 41 is arranged so as to be slidable back and forth between a forward limit position (a position shown by a two-dot chain line in FIG. 8) locked by the lock mechanism 45.
  • the transport of the liquid crystal panel 2 by the robot 11 is performed when the base member 41 is at the retracted limit position.
  • the tray 4 in the stacked state in which the liquid crystal panel 2 before the inspection is accommodated and the tray 4 in the state mounted on the mounting plate 40 is The base plate 57 is placed.
  • the front end surface of the stopper 70 of the lock mechanism 44 and the rear surface of the contact plate 75 lightly contact or face each other through a slight gap. . Further, when the base member 41 is disposed at the retracted limit position, the inclined surface 60 a of the lock plate 60 and the roller 71 of the lock mechanism 44 are in contact with each other. Therefore, movement of the base member 41 in the front-rear direction is restricted. When the base member 41 is disposed at the forward limit position, the rear end surface of the stopper 70 of the lock mechanism 45 and the front surface of the contact plate 75 are in slight contact or face each other through a slight gap. . In addition, when the base member 41 is disposed at the forward limit position, the inclined surface 60 b of the lock plate 60 and the roller 71 of the lock mechanism 45 are in contact with each other. Therefore, movement of the base member 41 in the front-rear direction is restricted.
  • the inclined surface 60 b of the lock plate 60 contacts the roller 71 of the lock mechanism 44 when the base member 41 moves backward toward the retracted limit position. Thereafter, when the base member 41 moves further backward, the lever member 72 rotates clockwise in FIG. 8 against the biasing force of the compression coil spring 76, and the rear end portion of the lock plate 60 rides over the roller 71. When the rear end of the lock plate 60 passes over the roller 71, the lever member 72 rotates counterclockwise in FIG. 8 by the biasing force of the compression coil spring 76, and the inclined surface 60a of the lock plate 60 contacts the roller 71. .
  • the inclined surface 60 a of the lock plate 60 contacts the roller 71 of the lock mechanism 45 when the base member 41 moves forward toward the forward movement limit position. Thereafter, when the base member 41 moves further to the front side, the lever member 72 pivots counterclockwise in FIG. 8 against the biasing force of the compression coil spring 76, and the front end portion of the lock plate 60 rides over the roller 71. When the front end portion of the lock plate 60 passes over the roller 71, the lever member 72 rotates clockwise in FIG. 8 by the biasing force of the compression coil spring 76, and the inclined surface 60b of the lock plate 60 contacts the roller 71.
  • the tray placement unit 6 is provided with a sensor 79 for detecting that the base member 41 is at the reverse limit position (see FIG. 6).
  • the sensor 79 is a proximity sensor, and is fixed to the right end side of the rear end portion of the upper surface of the support plate 62 via a fixing member.
  • a bolt 80 detected by a sensor 79 is fixed to the rear end of the base plate 57 (see FIG. 6).
  • the tray placement portion 6 is the two rear side plates 81 disposed immediately behind the left and right ends of the tray 4 placed on the placement plate 40. Is equipped.
  • the rear side plate 81 is fixed to the side plate 38.
  • the tray placement portion 6 is provided with a roller 82 for supporting the base member 41 moving toward the forward limit position from the lower side.
  • the roller 82 is held by the fixing member 83 so as to be able to rotate with the left and right direction as the axial direction of rotation.
  • the fixing member 83 is fixed to the main body frame installed on the gantry 14.
  • the rollers 82 are disposed on the left and right ends, respectively. Further, the roller 82 is disposed at substantially the same position as the holding member 73 of the lock mechanism 45 in the front-rear direction.
  • the roller 82 contacts the lower surface of the rail fixing plate 58 to support the rail fixing plate 58 from the lower side.
  • the elevating mechanism 46 engages with the motor 84, a screw member connected to the output shaft of the motor 84 through the coupling 85, and the screw member and is fixed to the rear surface of the base plate 63.
  • the motor 84 is, for example, an AC induction motor, and is capable of adjusting the speed of the motor 84.
  • the motor 84 is fixed to a support plate 87 formed in a flat plate shape.
  • the support plate 87 is fixed to the gantry 14. Further, the back side plate 39 is fixed to the support plate 87.
  • the screw member is rotatably held by the support plate 87.
  • the guide mechanism 86 includes, for example, a guide rail fixed to the support plate 87, and a guide block engaged with the guide rail and fixed to the base plate 63.
  • the motor 84 may be a servomotor.
  • the pin cylinder 50 is an air cylinder.
  • the pin cylinder 50 includes a movable pin 89 moving with compressed air as a drive source, and a cylinder body movably holding the movable pin 89 (see FIGS. 11A and 11B).
  • the tray placement unit 6 includes four pin cylinders 50.
  • the cylinder bodies of two of the four pin cylinders 50 are fixed to the side plate 38 disposed on the left side through a predetermined member, and the cylinder bodies of the remaining two pin cylinders 50 are as follows: It is being fixed to the side plate 38 arrange
  • the cylinder body of one of the two pin cylinders 50 fixed to the left side plate 38 is fixed to the front end of the side plate 38, and the cylinder body of the other pin cylinder 50 is positioned behind the side plate 38. It is fixed to the end.
  • the cylinder body of one of the two pin cylinders 50 fixed to the right side plate 38 is fixed to the front end of the side plate 38, and the cylinder body of the other pin cylinder 50 is positioned behind the side plate 38. It is fixed to the end.
  • the pin cylinder 50 fixed to the front end of the left side plate 38 and the pin cylinder 50 fixed to the front end of the right side plate 38 are disposed at the same position in the front-rear direction and fixed to the rear end of the left side plate 38
  • the pin cylinder 50 and the pin cylinder 50 fixed to the rear end of the right side plate 38 are disposed at the same position in the front-rear direction.
  • the pin cylinder 50 is disposed such that the moving direction of the movable pin 89 matches the left-right direction. Further, the two pin cylinders 50 fixed to the left side plate 38 are disposed such that the movable pin 89 protrudes toward the right side, and the two pin cylinders 50 fixed to the right side plate 38 are the left side The movable pin 89 is disposed so as to project toward the end. The four movable pins 89 are disposed above the upper end surface of the side plate 38.
  • the movable pins 89 are disposed at the uppermost stage and the second tray from the top in order to separate the tray 4 disposed at the uppermost stage and the tray 4 disposed second from the upper side. And (see FIGS. 12 (B) and (C)). Specifically, the movable pin 89 is inserted between the ridge 4 a of the tray 4 disposed at the top and the ridge 4 a of the tray 4 disposed second from the top. Further, in the present embodiment, the four movable pins 89 can support the tray 4 disposed at the top from the lower side. That is, the movable pins 89 are disposed at four positions so as to support the tray 4 disposed at the uppermost stage from the lower side.
  • the sensors 51 to 53 are transmission type optical sensors, and include a light emitting unit 91 and a light receiving unit 92.
  • the sensor 52 is disposed above the sensor 53, and the sensor 51 is disposed above the sensor 52. Also, for example, the sensor 52 is disposed on the front side of the sensor 51, and the sensor 53 is disposed on the rear side of the sensor 51.
  • the light emitting units 91 of the sensors 51 to 53 are fixed to, for example, a side plate 38 disposed on the left via a predetermined member, and the light receiving units 92 of the sensors 51 to 53 are predetermined members on the side plate 38 disposed on the right It is fixed through.
  • the light emitting unit 91 and the light receiving unit 92 are disposed to face each other in the left-right direction.
  • the light emitting unit 91 and the light receiving unit 92 are disposed above the upper end surface of the side plate 38.
  • the sensors 51 to 53 may be reflection type optical sensors.
  • the sensor 51 is a sensor for detecting the upper limit position of the uppermost tray 4, and the sensor 53 is the upper limit of the uppermost tray 4 of the stacked trays 4 lifted by the lifting mechanism 46. It is a sensor for stopping at position.
  • the motor 84 decelerates and the uppermost tray 4 is detected by the sensor 51. Then, the motor 84 is stopped.
  • the movable pin 89 When the uppermost tray 4 is stopped at the upper limit position, as shown in FIG. 12A, the movable pin 89 is lower than the ridge portion 4a of the uppermost tray 4 and upper Between the ridge 4a of the uppermost tray 4 and the ridge 4a of the second tray 4 from the top.
  • the movable pin 89 can be inserted. That is, the sensor 51 of this embodiment detects the uppermost tray 4 at a position where the movable pin 89 can be inserted between the uppermost tray 4 and the second tray 4 from the top. It is also a sensor of
  • the pin cylinder 50 when the uppermost tray 4 is stopped at the upper limit position, the pin cylinder 50 operates to cause the movable pin 89 to project, and as shown in FIG. 12B, the uppermost tray 4 and the top 2
  • the movable pin 89 is inserted between the second tray 4 and the second tray 4.
  • the lifting mechanism 46 is configured to stack the stacked trays 4 (stages as shown in FIG. 12C).
  • the stacked trays 4) are lowered to support the uppermost tray 4 on the movable pin 89, and form a gap between the uppermost tray 4 and the second tray 4 from the top.
  • the uppermost tray 4 When the uppermost tray 4 is supported by the movable pin 89, the uppermost tray 4 is also slightly lowered. The uppermost tray 4 slightly lowered falls out of the detection range of the sensor 51.
  • the sensor 52 is disposed at a position where it can detect the slightly lowered top tray 4, and the top tray 4 slightly lowered when supported by the movable pin 89 is a sensor Detected by 52. That is, the sensor 52 is a sensor for detecting the uppermost tray 4 supported by the movable pin 89.
  • the cylinder 47 is an air cylinder with a guide.
  • the cylinder 47 is disposed on the front side of the front end of the tray 4 when the base member 41 is in the retracted limit position.
  • the cylinder 47 is disposed on the front side of the uppermost tray 4 disposed at the upper limit position when the base member 41 is in the retracted limit position.
  • the cylinder 47 is fixed to the main body frame of the tray placement unit 6 via a predetermined member.
  • the cylinder 47 is disposed such that the rod of the cylinder 47 protrudes rearward.
  • a pressing member 93 is fixed to the front end (rear end) of the rod of the cylinder 47 in contact with the front end surface of the uppermost tray 4 disposed at the upper limit position to push the tray 4 backward.
  • the cylinder 47 when the base member 41 is at the retracted limit position and the uppermost tray 4 is disposed at the upper limit position, the cylinder 47 operates and the pressing member 93 operates the uppermost tray 4.
  • the inclined surfaces 4b of some of the trays 4 disposed on the lower side are in contact with the pins 56 fixed to the mounting plate 40, and in the horizontal direction (front and rear direction and left and right direction)
  • the stacked trays 4 are positioned.
  • the cylinder 47, the pressing member 93, and the pin 56 constitute a positioning mechanism 94 for positioning the tray 4 in the horizontal direction.
  • the tray placement unit 9 does not include the placement plate 40, the base member 41, the slide mechanism 43, and the lock mechanisms 44 and 45.
  • the support frame 42 of the tray arranging unit 9 is a mounting plate on which the tray 4 arranged at the bottom of the trays 4 arranged in the tray arranging unit 9 is mounted.
  • the mounting plate 95 is formed in the same manner as the mounting plate 40. Pins 56 for positioning the tray 4 in the horizontal direction are fixed to two corners of the rear end side of the mounting plate 95.
  • the fixing plate 96 is formed in a rectangular flat plate shape that is elongated in the front-rear direction, and is arranged such that the thickness direction of the fixing plate 96 matches the left-right direction.
  • the two fixing plates 96 are disposed in the state of being spaced apart in the left-right direction.
  • the lower surface of the mounting plate 95 is fixed to the upper end surface of the fixing plate 96.
  • the base plate 97 is formed in a rectangular flat plate shape, and is arranged such that the thickness direction of the base plate 97 coincides with the front-rear direction.
  • the rear end surface of the fixing plate 96 is fixed to the front surface of the base plate 97, and the lower surface of the rear end portion of the mounting plate 95 is fixed to the upper end surface of the base plate 97.
  • a nut member constituting a part of the elevating mechanism 46 and a guide block constituting a part of the guide mechanism 86 are fixed.
  • the reinforcing plate 98 is a reinforcing rib for securing the fixing strength between the mounting plate 95 and the base plate 97.
  • the reinforcing plate 98 is formed in a rectangular flat plate shape that is elongated in the vertical direction, and is arranged such that the thickness direction of the reinforcing plate 98 matches the left-right direction.
  • the rear end surface of the reinforcing plate 98 is fixed to the front surface of the base plate 97, and the upper end surface of the reinforcing plate 98 is fixed to the lower surface of the mounting plate 95.
  • the tray placement unit 9 includes two pin cylinders 50.
  • one pin cylinder 50 of the two pin cylinders 50 is fixed to the front end of the side plate 38 disposed on the left side through a predetermined member, and the remaining one pin cylinder
  • the reference numeral 50 is fixed to the front end of the side plate 38 disposed on the right side via a predetermined member.
  • the two pin cylinders 50 are disposed at the same position in the front-rear direction.
  • the pin cylinder 50 fixed to the left side plate 38 is disposed such that the movable pin 89 protrudes toward the right side, and the pin cylinder 50 fixed to the right side plate 38 is movable pin 89 toward the left side. Are arranged to protrude.
  • the movable pin 89 is the ridge portion 4a of the tray 4 disposed at the top to separate the tray 4 disposed at the top and the tray 2 disposed second from the top. And the ridge 4a of the tray 4 disposed second from the top.
  • the two movable pins 89 can not support the tray 4 disposed at the top from the lower side.
  • the tray placement unit 9 does not include the sensors 52 and 53, but includes the sensor 51 for detecting the upper limit position of the uppermost tray 4.
  • the motor 84 is stopped at a position where the uppermost tray 4 is detected by the sensor 51.
  • the tray placement units 7 and 8 also include the sensor 51, the sensors 52 and 53 are not included, and even in the tray placement units 7 and 8, the uppermost tray 4 is detected by the sensor 51.
  • the motor 84 stops at the detected position.
  • the movable pin 89 when the uppermost tray 4 is stopped at the upper limit position, the movable pin 89 is lower than the ridge portion 4a of the uppermost tray 4 and is second from the top
  • the movable pin 89 is disposed between the ridge 4a of the uppermost tray 4 and the ridge 4a of the tray 4 disposed second from the top, which is disposed above the ridge 4a of the tray 4 to be disposed. It is possible to insert it.
  • the uppermost tray 4 and the second tray 4 from the top are in contact with each other, and no gap is formed between the two trays 4.
  • the empty tray 4 in which the liquid crystal panel 2 is not accommodated Supplied to Specifically, for example, empty trays 4 stacked in five tiers are manually placed by the operator from the left side of tray placement unit 9 on placement plate 95 of tray placement unit 9 by a manual operation. .
  • the empty trays 4 in the stacked state are placed on the mounting plate 95 of the tray arrangement portion 9, in the tray arrangement portion 9, the trays in the stacked state are detected at the position where the uppermost tray 4 is detected by the sensor 51.
  • the elevating mechanism 46 raises and lowers the tray 4 so that 4 stops.
  • the empty trays 4 in the stacked state may be placed on the placement plate 95 of the tray placement unit 9 from the front side of the tray placement unit 9.
  • the pin cylinder 50 operates to insert the movable pin 89 between the ridge portion 4 a of the uppermost tray 4 and the ridge portion 4 a of the tray 4 disposed second from the top.
  • the robot 12 holds and lifts the uppermost tray 4 of the tray arrangement unit 9, conveys the tray 4 to the tray arrangement unit 7, and places the tray 4 on the placement plate 40 of the tray arrangement unit 7.
  • the base member 41 of the tray placement unit 7 is placed at the reverse limit position.
  • the support frame 42 of the tray placement unit 7 is elevated to a predetermined position.
  • the lifting mechanism 46 in the tray placement unit 7 stops the tray 4 at a position where the tray 4 is detected by the sensor 51.
  • the tray 4 is moved up and down.
  • the cylinder 47 operates to position the empty tray 4 in the front, rear, left, and right directions.
  • the pin cylinder 50 operates to retract the protruding movable pin 89.
  • the elevating mechanism 46 is configured to stop the stacked tray 4 at a position where the uppermost tray 4 in the stacked trays 4 remaining in the tray arrangement unit 9 is detected by the sensor 51. Move 4 up and down.
  • the pin cylinder 50 operates to insert the movable pin 89 between the ridge portion 4 a of the uppermost tray 4 and the ridge portion 4 a of the tray 4 disposed second from the top.
  • the robot 12 holds and lifts the uppermost tray 4 of the tray arrangement unit 9, conveys the tray 4 to the tray arrangement unit 8, and places the tray 4 on the placement plate 40 of the tray arrangement unit 8.
  • the base member 41 of the tray placement unit 8 is placed at the reverse limit position. Further, the support frame 42 of the tray placement unit 8 is elevated to a predetermined position.
  • the lifting mechanism 46 in the tray placement unit 8 stops the tray 4 at a position where the tray 4 is detected by the sensor 51.
  • the tray 4 is moved up and down.
  • the cylinder 47 operates to position the empty tray 4 in the front, rear, left, and right directions.
  • the pin cylinder 50 operates to retract the protruding movable pin 89.
  • the elevating mechanism 46 is configured to stop the stacked tray 4 at a position where the uppermost tray 4 in the stacked trays 4 remaining in the tray arrangement unit 9 is detected by the sensor 51. Move 4 up and down.
  • the stacked tray 4 in which the liquid crystal panel 2 before inspection is accommodated is supplied to the tray arrangement portion 6 Be done.
  • the support frame 42 is lowered to the lower limit position, and the operator manually moves the base member 41 to the advanced limit position.
  • the tray 4 in the stacked state and placed on the placement plate 40 is placed from the front side on the base plate 57 of the tray arrangement portion 6 by the manual work by the operator. . That is, the stacked trays 4 are supplied to the tray arrangement unit 6 from the front side.
  • the number of trays 4 supplied to the tray placement unit 6 is, for example, at most 30.
  • the tray placement unit 6 is provided with a sensor for detecting the lower limit position of the support frame 42.
  • the tray placement units 7 and 8 also include a sensor for detecting the lower limit position of the support frame 42.
  • the elevating mechanism 46 raises the tray 4 so that the stacked trays 4 stop at a position where the uppermost tray 4 is detected by the sensor 51.
  • the cylinder 47 operates to position the stacked trays 4 in the front, rear, left, and right directions.
  • the pin cylinder 50 operates to insert the movable pin 89 between the ridge 4a of the uppermost tray 4 and the ridge 4a of the tray 4 disposed second from the top.
  • the lifting mechanism 46 lowers the stacked trays 4 so that the movable pin 89 supports the uppermost tray 4, and the uppermost tray 4 and the second tray 4 from the top Form a gap between them.
  • An empty tray 4 is placed on the placement plate 40 of the tray placement units 7 and 8, and in the tray placement unit 6, a gap is formed between the uppermost tray 4 and the tray 4 disposed second from the top.
  • the robot 11 transports the liquid crystal panel 2 in the tray 4 disposed at the top of the tray placement unit 6 to the inspection apparatus 3. That is, the robot 11 is disposed at the uppermost stage of the tray arrangement portion 6 in a state where a gap is formed between the tray 4 disposed at the uppermost stage and the tray 4 disposed second from the top.
  • the liquid crystal panel 2 in the above is held and lifted, and conveyed to the inspection device 3. Specifically, the panel holding portion 28 a of the robot 11 sucks and holds the upper surface of the liquid crystal panel 2 and conveys it to the inspection device 3.
  • the robot 11 places the liquid crystal panel 2 after inspection from the inspection apparatus 3 in the tray 4 disposed at the top of the tray placement unit 7 or in the tray 4 disposed at the top of the tray placement unit 8. Transport and store. Specifically, the robot 11 transports and accommodates the liquid crystal panel 2 determined to be normal in the inspection by the inspection device 3 to the tray 4 disposed at the top of the tray arrangement unit 7 and stores the liquid crystal panel 2 in the inspection device 3. The liquid crystal panel 2 determined to be abnormal in the inspection is conveyed to and stored in the tray 4 disposed at the top of the tray placement unit 8.
  • the robot 12 conveys the empty tray 4 from the tray arranging unit 6 to the tray arranging unit 9 and arranges Do. That is, the robot 12 holds and lifts the tray 4 that has become empty, and conveys it from the tray arrangement unit 6 to the tray arrangement unit 9 to place the stacked trays 4 arranged in the tray arrangement unit 9. Pile up.
  • the stacked trays 4 stop at a position where the uppermost tray 4 arranged in the tray arranging unit 9 is detected by the sensor 51.
  • the lifting mechanism 46 raises and lowers the tray 4.
  • the pin cylinder 50 operates to retract the protruding movable pin 89.
  • the elevating mechanism 46 is configured to stop the stacked tray 4 at a position where the uppermost tray 4 in the stacked trays 4 remaining in the tray arrangement unit 6 is detected by the sensor 51. Raise 4
  • the pin cylinder 50 operates to insert the movable pin 89 between the ridge 4a of the uppermost tray 4 and the ridge 4a of the tray 4 disposed second from the top.
  • the lifting mechanism 46 lowers the stacked trays 4 so that the movable pin 89 supports the uppermost tray 4, and the uppermost tray 4 and the second tray 4 from the top Form a gap between them.
  • the robot 11 transports the liquid crystal panel 2 in the tray 4 disposed at the top of the tray placement unit 6 to the inspection apparatus 3. Further, when the liquid crystal panels 2 in the trays 4 arranged in the tray arranging unit 6 are sequentially conveyed to the inspection device 3 and all the trays 4 in the tray arranging unit 6 are conveyed to the tray arranging unit 9, the inspection is performed.
  • the stacked trays 4 in which the front liquid crystal panels 2 are accommodated are supplied to the tray placement unit 6 as described above.
  • the robot 12 conveys the empty tray 4 from the tray placement unit 9 to the tray placement unit 7 and stacks it on the uppermost tray 4 of the tray placement unit 7. That is, the robot 12 holds and lifts the empty tray 4 at the uppermost stage of the tray arrangement unit 9 and conveys it from the tray arrangement unit 9 to the tray arrangement unit 7 and overlaps the tray 4 of the tray arrangement unit 7 .
  • the elevating mechanism 46 is stopped so that the stacked trays 4 stop at a position where the uppermost tray 4 which is the carried-in tray 4 is detected by the sensor 51. Raises and lowers the tray 4. Thereafter, the robot 11 conveys the liquid crystal panel 2 from the inspection device 3 into the tray 4 disposed at the top of the tray placement unit 7.
  • the robot 12 transfers the tray arranging unit 9 to the tray arranging unit 8.
  • the empty tray 4 is conveyed and stacked on the uppermost tray 4 of the tray arrangement unit 8. That is, the robot 12 holds and lifts the empty tray 4 at the uppermost stage of the tray arrangement unit 9 and conveys it from the tray arrangement unit 9 to the tray arrangement unit 8 and overlaps the tray 4 of the tray arrangement unit 8 .
  • the elevating mechanism 46 is stopped so that the stacked trays 4 stop at a position where the uppermost tray 4 which is the carried-in tray 4 is detected by the sensor 51. Raises and lowers the tray 4. Thereafter, the robot 11 conveys the liquid crystal panel 2 from the inspection device 3 into the tray 4 disposed at the top of the tray placement unit 8.
  • the tray arranging unit 7 when the trays 4 accommodating the predetermined number of liquid crystal panels 2 are stacked in a predetermined number of stages, the stacked trays 4 are taken out from the tray arranging unit 7.
  • the support frame 42 is lowered to the lower limit position, and the operator manually moves the base member 41 to the advanced limit position.
  • the stacked trays 4 placed on the placement plate 40 of the tray placement unit 7 are taken out together with the placement plate 40 to the front side by a manual operation by a worker. That is, the stacked trays 4 are taken out from the tray arrangement unit 7 on the front side.
  • the tray placement unit 7 is provided with a sensor for detecting that the trays 4 have been stacked in a predetermined number of stages.
  • the tray placement unit 7 When the stacked trays 4 are taken out from the tray placement unit 7 together with the placement plate 40, another placement plate 40 is manually placed on the base plate 57 of the tray placement unit 7. Thereafter, in the tray placement unit 7, the operator manually moves the base member 41 to the retracted limit position. Thereafter, in the tray placement unit 7, the lifting mechanism 46 lifts the support frame 42 to a predetermined position. Thereafter, the robot 12 conveys the uppermost tray 4 of the tray placement unit 9 to the tray placement unit 7 and places the tray 4 on the placement plate 40 of the tray placement unit 7. When the empty tray 4 is placed on the placement plate 40 of the tray placement unit 7, the lifting mechanism 46 in the tray placement unit 7 stops the tray 4 at a position where the tray 4 is detected by the sensor 51. The tray 4 is moved up and down.
  • tray placement unit 8 when trays 4 containing a predetermined number of liquid crystal panels 2 are stacked in a predetermined number of stages in tray disposing unit 8, trays 4 stacked from tray disposing unit 8 are taken out.
  • the support frame 42 is lowered to the lower limit position, and the operator manually moves the base member 41 to the advanced limit position.
  • the stacked trays 4 placed on the placement plate 40 of the tray placement unit 8 are taken out together with the placement plate 40 to the front side by a manual operation by a worker. That is, the stacked trays 4 are taken out from the tray arrangement unit 8 to the front side.
  • the tray placement unit 8 is provided with a sensor for detecting that the trays 4 have been stacked in a predetermined number of stages.
  • the pin cylinder 50 operates before the robot 12 carries out the tray 4 from the tray arrangement unit 9 to the tray arrangement unit 7 or the tray arrangement unit 8, and the ridge portion of the uppermost tray 4 A movable pin 89 is inserted between 4 a and the ridge 4 a of the tray 4 disposed second from the top.
  • the pin cylinder 50 operates to retract the protruding movable pin 89.
  • the elevating mechanism 46 is configured to stop the stacked tray 4 at a position where the uppermost tray 4 in the stacked trays 4 remaining in the tray arrangement unit 9 is detected by the sensor 51. Move 4 up and down.
  • the cassette 5 containing the liquid crystal panel 2 before inspection is supplied to the cassette placement unit 13.
  • the robot 11 transports the liquid crystal panel 2 in the cassette 5 to the inspection device 3, and the liquid crystal panel 2 after inspection from the inspection device 3 is placed in the tray 4 or the tray disposed at the uppermost stage of the tray arrangement portion 7.
  • the sheet is conveyed and accommodated in the tray 4 disposed at the uppermost stage of the placement unit 8.
  • the transport system 1 includes the tray placement units 6 to 9 and the robot 12 that transports the tray 4. Further, in this embodiment, when the uppermost tray 4 of the tray arrangement unit 6 becomes empty, the robot 12 conveys the empty tray 4 from the tray arrangement unit 6 to the tray arrangement unit 9 and arranges the tray 4 When a predetermined number of liquid crystal panels 2 are accommodated in the uppermost tray 4 of the section 7, the empty tray 4 is conveyed from the tray arranging section 9 to the tray arranging section 7 and the uppermost tray 4 of the tray arranging section 7 is When a predetermined number of liquid crystal panels 2 are accommodated in the uppermost tray 4 of the tray placement unit 8 stacked on top of each other, the empty tray 4 is conveyed from the tray placement unit 9 to the tray placement unit 8 and the tray placement unit It is stacked on the tray 4 of the top row of eight.
  • the empty tray 4 is taken out of the transport system 1 or the empty tray 4 is supplied from the outside of the transport system 1 You don't need time to do it.
  • the tray 4 is automatically conveyed from the tray arrangement unit 6 to the tray arrangement unit 9 by the robot 12, and the tray 4 is automatically arranged from the tray arrangement unit 9 to the tray arrangement unit 7 or the tray arrangement unit 8. It is being transported. Therefore, in the present embodiment, it is possible to shorten the time for loading and unloading the liquid crystal panel 2 with respect to the inspection device 3.
  • the tray placement sections 6 to 9 are arranged in a line. Therefore, in the present embodiment, it is possible to shorten the transport time of the tray 4 by the robot 12 as compared with the case where the tray placement parts 6 to 9 are randomly placed.
  • the tray arranging unit 9, the tray arranging unit 6, the tray arranging unit 7, and the tray arranging unit 8 are arranged in this order from the left to the right. Further, in the present embodiment, behind the tray arrangement portion 7, the panel placement portion 15 of the inspection device 3 on which the liquid crystal panel 2 is placed is disposed. Therefore, in the present embodiment, the transport distance of the liquid crystal panel 2 by the robot 11 from the tray 4 of the tray placement unit 6 to the panel placement unit 15 of the inspection device 3 and the distance by the robot 11 from the panel placement unit 15 to the tray placement unit 7 It is possible to shorten the overall transport distance of the liquid crystal panel 2 by the transport distance of the liquid crystal panel 2 and the transport distance of the liquid crystal panel 2 by the robot 11 from the panel placement unit 15 to the tray placement unit 8. Therefore, in the present embodiment, the loading and unloading time of the liquid crystal panel 2 with respect to the inspection apparatus 3 can be further shortened.
  • the inspection device 3, the robot 11 and the cassette arranging unit 13 are arranged behind the tray arranging units 6 to 8, but the stacked trays 4 are supplied to the tray arranging unit 6 from the front side.
  • the stacked trays 4 are taken out to the front side from the tray arranging portions 7 and 8. Therefore, in the present embodiment, the supply operation of the tray 4 to the tray arrangement unit 6 is facilitated, and the extraction operation of the tray 4 from the tray arrangement units 7 and 8 is facilitated.
  • the tray arranging units 6 to 9 include an elevating mechanism 46 for moving the tray 4 up and down, and a sensor 51 for detecting the upper limit position of the uppermost tray 4. Therefore, in the present embodiment, it is possible to keep the vertical position of the uppermost tray 4 of the tray arranging parts 6 to 9 constant. Therefore, in the present embodiment, the control of the robots 11 and 12 is performed in comparison with the case where the position of the uppermost tray 4 in the vertical direction fluctuates according to the number of stages of the trays 4 arranged in the tray arranging portions 6 to 9. It becomes possible to simplify.
  • the tray arranging units 6 and 9 are disposed from the tray 4 disposed at the uppermost stage and 2 from the upper side.
  • the movable pin 89 is inserted between the tray 4 and the second tray 4. Therefore, in the present embodiment, when the tray is transported from the tray arranging unit 6 to the tray arranging unit 9, it becomes possible to reliably transport only the uppermost tray 4 which is empty, and When the empty tray 4 is conveyed from the arrangement unit 9 to the tray arrangement units 7 and 8, it is possible to reliably convey only the uppermost tray 4.
  • the tray at the uppermost stage of the tray disposition unit 6 since the panel holding portion 28 a of the robot 11 sucks and holds the upper surface of the liquid crystal panel 2 in the tray 4 disposed at the uppermost stage of the tray disposition unit 6, the tray at the uppermost stage of the tray disposition unit 6 When the robot 11 holds the liquid crystal panel 2 out of the four, there is a possibility that a force acts on the liquid crystal panel 2 from the upper side, and the uppermost tray 4 is deformed downward.
  • the robot 11 is disposed at the uppermost stage of the tray arrangement portion 6 in a state where a gap is formed between the tray 4 disposed at the uppermost stage and the tray 4 disposed second from the top. The liquid crystal panel 2 in the tray 4 to be held is held.
  • the tray placement unit 6 detects the uppermost tray 4 at a position where the movable pin 89 can be inserted between the uppermost tray 4 and the second tray 4 from the top. And a sensor 52 for detecting the uppermost tray 4 supported by the movable pin 89. Therefore, in the present embodiment, stacking is performed at a position where the movable pin 89 can be inserted between the tray 4 disposed at the top and the tray 2 disposed second from the top using the sensor 51. It is possible to stop the tray 4 that has been set, and to use the sensor 52 to confirm that the uppermost tray 4 is supported by the movable pin 89.
  • the tray placement units 6 to 8 are provided with a positioning mechanism 94 for positioning the tray 4 in the horizontal direction. Therefore, in the present embodiment, the robot 11 can accurately hold a predetermined portion of the liquid crystal panel 2 housed in the uppermost tray 4 of the tray arranging section 6 with accuracy. The robot 11 can accurately carry the liquid crystal panel 2 into a predetermined position of the upper tray 4.
  • the transport system 1 includes the cassette placement unit 13 in which the cassette 5 is placed, and the cassette placement unit 13 selects the robot 5 from the cassette 5 placed in the cassette placement unit 13 to the inspection apparatus 3.
  • the liquid crystal panel 2 is disposed at a position where it can be transported. Therefore, in the present embodiment, the liquid crystal panel 2 accommodated in the tray 4 of the tray arrangement portion 6 and the liquid crystal panel 2 accommodated in the cassette 5 can be transported to the inspection apparatus 3 by the common robot 11.
  • the number of pin cylinders 50 provided in the tray arrangement unit 6 may be five or more. That is, the number of movable pins 89 provided in the tray arrangement unit 6 may be five or more. In addition, the number of movable pins 89 provided in the tray disposition unit 6 may be three, as long as the tray 4 disposed at the uppermost stage can be supported from the lower side. In the embodiment described above, when the robot 11 holds the liquid crystal panel 2 in the tray 4 disposed at the uppermost stage of the tray arranging unit 6, the tray 4 disposed at the uppermost stage is disposed second from the top A gap may not be formed between the tray 4 and the tray 4. In this case, the tray placement unit 6 may not include the sensor 52.
  • the supply of the tray 4 to the tray arranging units 6 and 9 may be automatically performed using a robot or the like, and the removal of the tray 4 from the tray arranging units 7 and 8 may be performed by the robot or the like. It may be performed automatically using it.
  • a pressing member may be fixed to the movable pin 89 of the pin cylinder 50 for positioning the tray 4 in the left-right direction by contacting the left and right end surfaces of the tray 4.
  • the tray arrangement unit 9, the tray arrangement unit 6, the tray arrangement unit 7, and the tray arrangement unit 8 are arranged in this order from left to right, but the tray arrangement units 6 to 9 It may be arranged in any order. Further, in the embodiment described above, the tray placement parts 6 to 9 may be randomly placed.
  • the tray placement units 6 to 8 may not have the placement plate 40. In this case, the tray 4 is placed on the base plate 57 in the tray arranging parts 6-8. Further, in the embodiment described above, at least one of the tray arranging parts 6 to 9 may not be provided with the elevating mechanism 46. Further, in the embodiment described above, the tray placement units 6 and 9 may not include the pin cylinder 50. Furthermore, in the embodiment described above, the tray placement units 6 to 8 may not have the lock mechanisms 44 and 45, may not have the slide mechanism 43, and may not have the positioning mechanism 94. good. Further, in the embodiment described above, the transport system 1 may not include the cassette placement unit 13.
  • the robot 11 may be a vertical articulated robot other than six axes, may be a horizontal articulated robot, or may be a three-axis orthogonal robot, or a so-called parallel link robot It may be In the embodiment described above, the robot 12 may be a three-axis orthogonal robot, a vertical articulated robot, or a horizontal articulated robot.
  • the inspection device 3 may be an inspection device other than the lighting inspection device.
  • the display panel conveyed by the conveyance system 1 is the liquid crystal panel 2, but the display panel conveyed by the conveyance system 1 may be a display panel other than the liquid crystal panel 2.
  • the display panel transported by the transport system 1 may be an organic EL panel.
  • Transport system Liquid crystal panel (display panel) 3 inspection device 4 tray 5 cassette 6 tray arrangement part (supply side tray arrangement part) 7 Tray placement part (1st discharge side tray placement part) 8 Tray placement section (second discharge side tray placement section) 9 Tray placement section (empty tray placement section) 11 Robot (panel transfer robot) 12 Robot (tray transport robot) 13 Cassette placement unit 46 Lifting mechanism (tray lifting mechanism) 51 sensor (first sensor) 52 sensor (second sensor) 89 Movable pin 94 Positioning mechanism X Left / right direction Y Front / back direction

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • De-Stacking Of Articles (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

Ce système de transport (1) comprend : une section d'agencement de plateaux (6) dans laquelle sont agencés des plateaux dans lesquels des panneaux d'affichage sont reçus avant leur inspection; une section d'agencement de plateaux (7) dans laquelle sont agencés des plateaux dans lesquels des panneaux d'affichage normaux sont reçus après leur inspection; une section d'agencement de plateaux (8) dans laquelle sont agencés des plateaux dans lesquels des panneaux d'affichage inadaptés sont reçus après leur inspection; une section d'agencement de plateaux (9) dans laquelle des plateaux vides sont agencés; et un robot (12) pour transporter les plateaux. Le robot (12) transporte un plateau de la section d'agencement de plateaux (6) à la section d'agencement de plateaux (9) lorsque le plateau supérieur de la section d'agencement de plateaux (6) a été vidé et, lorsqu'un nombre prédéterminé de panneaux d'affichage est reçu dans les plateaux supérieurs des sections d'agencement de plateaux (7, 8), et le robot transporte des plateaux de la section d'agencement de plateaux (9) aux sections d'agencement de plateaux (7, 8) et empile lesdits plateaux sur les plateaux supérieurs des sections d'agencement de plateaux (7, 8).
PCT/JP2018/033540 2017-09-29 2018-09-11 Système de transport Ceased WO2019065202A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201880060901.6A CN111094157A (zh) 2017-09-29 2018-09-11 搬运系统

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-189845 2017-09-29
JP2017189845A JP2019064763A (ja) 2017-09-29 2017-09-29 搬送システム

Publications (1)

Publication Number Publication Date
WO2019065202A1 true WO2019065202A1 (fr) 2019-04-04

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/033540 Ceased WO2019065202A1 (fr) 2017-09-29 2018-09-11 Système de transport

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Country Link
JP (1) JP2019064763A (fr)
CN (1) CN111094157A (fr)
WO (1) WO2019065202A1 (fr)

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JP2022183852A (ja) * 2021-05-31 2022-12-13 日本電産サンキョー株式会社 搬送システムおよび処理システム
KR102576460B1 (ko) * 2021-08-31 2023-09-08 (주)피엔피 Utg 검사용 utg 교환 시스템

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