Apparatus and method for transferring board-like work

Abstract

An apparatus (10) for transferring a board-like work is provided with a multijoint robot (11), which has a series of movable arms (13) having multiple joints and a holding section (23) for holding and acquiring one surface of a board-like work (3) on the leading end of the series of movable arms (13).  The multijoint robot (11) holds a supply-side lower surface (3a) of the board-like work (3) supplied to an acquiring position (4), and places an upper surface (3b) opposite to the lower surface (3a) on a placing surface (26) at a placing position.  The acquiring position (4) and the placing position are arranged to face each other, and the multijoint robot (11) is arranged on a side of a facing space.  The multijoint robot (11) transfers the board-like work (3) from the acquiring position (4) to the placing position over the facing space by turning, bending and stretching operations of the series of movable arms (13).  A part of the transfer operation includes a reversing operation for placing the upper surface (3b) of the board-like work (3) on the placing surface (26).

Description

technical field [0001] The present invention relates to a transfer device and a transfer method for a plate-shaped workpiece, and relates to a device and a transfer method for transferring a glass substrate for a flat panel display (FPD) such as a liquid crystal display or a plasma display, or an organic EL, FED, or SED. Background technique [0002] Conventionally, a general-purpose multi-degree-of-freedom robot arm such as a multi-axis vertical articulated robot or a multi-axis horizontal articulated robot has been used for such transfer equipment. Since the glass plate is easily broken, manual work is difficult, and it is extremely difficult for an operator to transport a large glass plate of 1000 mm×1000 mm or more. Furthermore, since a high degree of purification (cleanliness) is required for the glass plate related to the above-mentioned application, there is a tendency to avoid operator's handling which generates dust such as organic matter. In this regard, the above...

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Problems solved by technology

Therefore, the two arms need to be moved synchronously, which may hinder the speed-up of the conveying operation.

In addition, the above-mentioned conveying device is not equipped with a mechanism for turning over the front and back of the original workpiece, so it is difficult to directly apply the above-mentioned conveying device to glass plate transfer equipment.

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