Auto aligning conveyor system of conveying objects

Abstract

The present invention relates to an automatic conveyor system for aligning conveyed objects, comprising: a port for loading or unloading a conveyed object between a stoker and a conveyor; a first rail forming a straight travel path from the port; a shuttle for transporting the conveyed object loaded at the port along the first rail; and at least three sensors installed at the port for measuring the distance to the conveyed object loaded at the port, wherein the shuttle aligns the conveyed object to a correct position using the distance values ​​measured by the sensors. The present invention has the effect of reducing the time and cost required for aligning the conveyed object during the conveying process by the conveyor, and preventing the generation of particles during the alignment process of the conveyed object.

Description

Technology Field

[0001] The present invention relates to an automatic sorting conveyor system for conveyed materials. More specifically, it relates to an automatic sorting conveyor system for conveyed materials that enables cassettes transported by a conveyor system to be automatically sorted during the transport process. Background Technology

[0002] In response to the development of the information society, the use of flat panel displays (FPDs), such as Liquid Crystal Displays (LCDs) and Organic Light Emitting Diodes (OLEDs), is increasing.

[0003] Among these flat panel display devices, a liquid crystal display device is described below as an example.

[0004] A liquid crystal display is a device that displays images using the electro-optical properties of liquid crystal molecules. To this end, the liquid crystal display includes a liquid crystal panel, a backlight unit, and a driving circuit unit.

[0005] A liquid crystal display having the above configuration is largely manufactured through a substrate manufacturing process, a cell manufacturing process, and a module manufacturing process.

[0006] Here, the substrate manufacturing process refers to the process of manufacturing a color filter substrate using a cleaned substrate and the process of manufacturing a thin-film transistor substrate using another cleaned substrate; the cell manufacturing process refers to the process of manufacturing a liquid crystal panel by forming a liquid crystal layer between the color filter substrate and the thin-film transistor substrate and then bonding the two substrates together; and the module manufacturing process refers to the process of attaching a driving circuit unit to the pad portion of the liquid crystal panel and then assembling the liquid crystal panel with the attached driving circuit unit with a backlight unit.

[0007] For the aforementioned substrate manufacturing process, the substrates must be transported to each manufacturing equipment in the form of individual sheets or groups. For this reason, a cassette capable of loading multiple substrates individually and transporting these individual substrates in the form of groups is used for substrate transport. That is, the substrates are transported to the manufacturing equipment while loaded in a cassette.

[0008] In addition, the manufacturing equipment performing the substrate manufacturing process has different substrate processing capabilities and processing times. Due to this, a stocker is used to temporarily store cassettes, and the stocker includes a shelf, a port, and a rack master, and the shelf is a facility that actually stores cassettes loaded with substrates.

[0009] In addition, the liquid crystal display manufacturing process is further equipped with a conveyor that transports a cassette containing a plurality of substrates between stokers or between a stoker and equipment where each process is performed in order to increase work efficiency.

[0010] Accordingly, the conveyor travels back and forth between the stockers where the cassette is temporarily stored or between the stockers and the equipment where a series of processes are performed, thereby returning the cassette from stocker to stocker, from the stocker to each piece of equipment, and from each piece of equipment to the stocker, respectively.

[0011] These stoker conveyors consist of rails installed on a production line to transport cassettes along a set path and shuttles that move along the rails and receive the cassettes.

[0012] In addition, the shuttle is configured to allow alignment of the cassette through movement along the X and Y axes and rotation along the T axis, or additionally configured to allow lifting along the Z axis.

[0013] Among these, the T-axis rotation of the shuttle is intended to maintain directionality even when the cassette is being transported, because the cassette has an input port formed for the board to be inserted and removed in one direction, and thus must maintain directionality so that the board can be inserted and removed through the input port in the stoker or manufacturing equipment performing the manufacturing process to which the cassette is transported.

[0014] However, conventional cassette transport methods using conveyors and shuttles have a problem in that the transport time of the cassettes becomes long as the cassettes loaded on the shuttle undergo a sorting process at the port.

[0015] FIGS. 1 to 3 are drawings for explaining a conventional cassette transport method using a stoker and a conveyor, and FIG. 3 is an enlarged view of section A of FIG. 2.

[0016] As an example of the prior art, FIG. 1 shows two stokers (1, 2) and a Z-shaped conveyor (3) connecting each stoker (1, 2), and ports (P1, P2, P3, P4) are installed at points where each stoker (1, 2) and the conveyor (3) come into contact and at points where the travel path (C1, C2, C3) of the conveyor (3) intersects.

[0017] In addition, as shown in FIGS. 2 and 3, a centering unit (4) and an air chuck (5) for aligning the cassette are provided at the corner portions of each port (P1, P2, P3, P4).

[0018] According to the conventional cassette transport method using a stoker (1, 2) and conveyor (3) structure, when the shuttle enters each port (P1, P2, P3, P4), the cassette loaded on the shuttle undergoes a process of alignment by the centering unit (4) and air chuck (5) provided at each port (P1, P2, P3, P4).

[0019] In this conventional technology, since the alignment process is performed for each port (P1, P2, P3, P4), a significant amount of time is consumed for cassette transport, which has the disadvantage of reducing overall transport efficiency.

[0020] In addition, there is a problem in that particles are generated due to wear and grinding caused by contact with the cassette during the process of alignment work being performed by the centering unit (4) and the air chuck (5) over a long period of time, which lowers the glass production yield and continuously incurs operating costs for the production of air to drive the air chuck (5). Prior art literature

[0021] Korean Registered Patent No. 10-2266966 (June 14, 2021) The problem to be solved

[0022] To solve the above-mentioned problem, the present invention aims to provide an automatic conveyor system for sorting conveyed materials that can reduce the time required for sorting conveyed materials during the conveying process of cassettes by a conveyor and prevent the generation of particles during the sorting process of conveyed materials. means of solving the problem

[0023] To achieve the above objective, the present invention comprises: a port in which a conveyor is loaded or unloaded between a stoker; a first rail forming a straight travel path from the port; a shuttle for transporting the conveyor loaded at the port along the first rail; and at least three sensors installed at the port for measuring the distance to the conveyor loaded at the port, wherein the shuttle aligns the conveyor to a correct position using the distance values ​​measured by the sensors.

[0024] At this time, the at least three sensors are composed of a first sensor and a second sensor that measure the distance in a direction perpendicular to the travel path of the first rail for the conveyor loaded in the port, and a third sensor that measures the distance in a direction parallel to the travel path of the first rail for the conveyor loaded in the port, and the second sensor is positioned at a location that is advanced by a predetermined distance along the travel path of the first rail from the first sensor.

[0025] In addition, the shuttle is characterized by correcting an error in the angle of the conveyed object by rotating the conveyed object while moving on the first rail when the difference between the distance values ​​measured by the first sensor and the second sensor is greater or less than zero.

[0026] At this time, the correction angle (θ) for correcting the error regarding the angle of the above-mentioned return object is defined as follows.

[0027] θ=Tan -1 (A / B)

[0028] Here, A is the difference between the position value of the conveyed object based on the second sensor and the distance value of the conveyed object measured by the second sensor, and B is a value corresponding to half the distance between the first sensor and the second sensor.

[0029] In addition, the shuttle is characterized by correcting the error in distance in a direction parallel to the travel path of the first rail of the conveyed object while moving on the first rail.

[0030] At this time, the correction distance (Y) for correcting the distance error in the direction parallel to the travel path of the first rail is defined as follows.

[0031] Y=Tan(θ)×C

[0032] Here, C is a value corresponding to 1 / 2 of the width of the return object.

[0033] Additionally, it may further include a second rail forming a travel path extended in a direction perpendicular to the first rail, and the shuttle may be configured to transport the conveyor along the first rail and the second rail.

[0034] At this time, the shuttle is characterized by correcting the error in distance in the direction perpendicular to the travel path of the first rail of the conveyed object while moving on the second rail.

[0035] At this time, the correction distance (X) for correcting the distance error in the direction perpendicular to the travel path of the first rail is defined as follows.

[0036] X=Tan(θ)×D

[0037] Here, D is a value corresponding to 1 / 2 of the length of the return.

[0038] Additionally, it further includes a third rail forming a travel path extended in a direction perpendicular to the second rail, and the shuttle may be configured to transport the conveyor along the first rail, the second rail, and the third rail. Effects of the invention

[0039] The present invention has the effect of reducing the time and cost required for aligning the conveyed materials during the conveying process by a conveyor, and preventing the generation of particles during the alignment process of the conveyed materials. Brief explanation of the drawing

[0040] FIGS. 1 to 3 are drawings for explaining a conventional cassette transport method using a stoker and a conveyor. FIG. 4 is a schematic diagram illustrating an automatic sorting conveyor system for conveyed materials according to a preferred embodiment of the present invention. Figure 5 is a diagram illustrating a shuttle. Figure 6 is a diagram illustrating a method for measuring the error of a transported object loaded into a port with the sensors out of position. Figure 7 is a drawing illustrating an application example in an I-type conveyor. Figure 8 is a drawing illustrating an example of application in an L-shaped conveyor. Specific details for implementing the invention

[0041] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, it should be noted that when adding reference numerals to the components of each drawing, the same components are given the same reference numeral whenever possible, even if they are shown in different drawings. Furthermore, detailed descriptions are omitted if it is determined that they may obscure the essence of the present invention. Additionally, while preferred embodiments of the present invention will be described below, the technical concept of the present invention is not limited thereto and can be implemented by those skilled in the art.

[0042] FIG. 4 is a schematic diagram illustrating an automatic sorting conveyor system for conveyed materials according to a preferred embodiment of the present invention, and FIG. 5 is a diagram illustrating a shuttle.

[0043] Hereinafter, an automatic sorting conveyor system (10) according to a preferred embodiment of the present invention will be described with reference to FIGS. 4 and FIGS. 5.

[0044] The conveyor automatic sorting conveyor system (10) illustrated in FIG. 4 is a Z-shaped bridge conveyor (3, Bridge Conveyor (BRC), hereinafter referred to as 'conveyor'), and the stocker (1, 2) is equipped with a shelf (not shown) where the conveyor is stored and a rack master (not shown) for loading and unloading the conveyor to and from a port (20). At this time, the conveyor may be a cassette for loading multiple substrates.

[0045] The automatic sorting conveyor system (10) according to a preferred embodiment of the present invention is a logistics transfer facility that automatically transports a conveyor between a stoker (1, 2).

[0046] A conveyor automatic alignment conveyor system (10) according to a preferred embodiment of the present invention comprises a first port (20) in which a conveyor is loaded or unloaded between a stoker (1, 2), a rail (30, 32, 34) forming a travel path, a shuttle (40) for transporting a conveyor loaded at the first port (20) along the rail (30, 32, 34), and at least three sensors (50, 52, 54) installed at the first port (20) to measure the distance to the conveyor loaded at the port.

[0047] Specifically, the rails (30, 32, 34) consist of a first rail (30) that forms a straight travel path from the first port (20), a second rail (32) that forms a travel path extending in a direction perpendicular to the first rail (30), and a third rail (34) that forms a travel path extending in a direction perpendicular to the second rail (32).

[0048] Additionally, a second port (22) is provided at the intersection of the first rail (30) and the second rail (32), and a third port (24) is provided at the intersection of the second rail (32) and the third rail (34). Furthermore, a fourth port (26) is provided at the point where the third rail (34) and the stoker (2) meet.

[0049] The shuttle (40) transports the return object along the first to third rails (30, 32, 34).

[0050] At this time, the shuttle (40) is configured to align the transported object to the correct position by moving it along the X-axis and Y-axis or rotating it around the Z-axis using distance values ​​measured from the sensors (50, 52, 54). The configuration of this shuttle (40) is already known, so further detailed description is omitted.

[0051] At least three sensors (50, 52, 54) are distance measuring sensors for measuring the distance of a transported object, and are installed in the first port (20) and the fourth port (26) which are positioned in contact with the stoker (1, 2).

[0052] If a stoker (2) is not installed in the fourth port (26), that is, if the return object is not loaded into the fourth port (26) and then departs from the fourth port (26) and transported, then it is not necessary to install a sensor (50, 52, 54) in the fourth port (26).

[0053] With reference to the first port (20) of FIG. 4, at least three sensors (50, 52, 54) consist of a first sensor (50) and a second sensor (52) that measure the distance in a direction perpendicular to the travel path of the first rail (30) (X-axis direction in FIG. 4) for a transport object loaded on the first port (20), and a third sensor (54) that measures the distance in a direction parallel to the travel path of the first rail (30) (Y-axis direction in FIG. 4) for a transport object loaded on the first port (20).

[0054] At this time, the second sensor (52) is positioned at a location advanced by a predetermined distance along the travel path of the first rail (30) from the first sensor (50) and is installed at a predetermined distance from the first sensor (50).

[0056] Hereinafter, a method for aligning a transported object by an automatic transport sorting conveyor system (10) according to a preferred embodiment of the present invention is described.

[0057] First, when a transport object is loaded from the stocker (1) to the first port (20) by the rack master (not shown), the first to third sensors (50, 52, 54) measure the distance to the transport object from each location and transmit information about this to the shuttle (40).

[0058] The shuttle (40) performs the task of aligning the transported object to the correct position while driving using distance values ​​received from the first to third sensors (50, 52, 54).

[0059] Preferably, the distance values ​​measured by the first to third sensors (50, 52, 54) are transmitted to the control unit (not shown) of the shuttle (40), and the control unit calculates the error in the distance to the transport object along the X and Y axes and the error in the rotation angle of the transport object along the Z axis by comparing it with the position where the transport object should ideally be loaded.

[0060] After that, the shuttle (40) moves along the X and Y axes and rotates around the Z axis to correct the error calculated by the control unit, thereby aligning the transported object to the correct position.

[0061] Figure 6 is a diagram illustrating a method for measuring the error of a transported object loaded into a port with the sensors out of position.

[0062] Hereinafter, with reference to FIG. 6, a method for calculating the error of a transported object loaded into the first port (20) and for the shuttle (40) to correct it is explained.

[0064] return items Correction for angle

[0066] When the distance value to the object measured by the first sensor (50) is denoted as X1 and the distance value to the object measured by the second sensor (52) is denoted as X2, if the difference (X2-X1) between the distance values ​​measured by the first sensor (50) and the second sensor (52) is greater than or less than 0, the shuttle (40) rotates the object while moving on the first rail (30) to correct the error in the angle of the object.

[0067] At this time, if the difference (X2-X1) of the distance values ​​measured by the first sensor (50) and the second sensor (52) is greater than 0, it is corrected by rotating counterclockwise, and if the difference (X2-X1) of the distance values ​​measured by the first sensor (50) and the second sensor (52) is less than 0, it is corrected by rotating clockwise. In addition, if the difference (X2-X1) of the distance values ​​measured by the first sensor (50) and the second sensor (52) is 0, it is a case where there is no error regarding the angle of the transported object, so no correction for the angle is performed.

[0068] The correction angle (θ) for correcting the error in the angle of the returned object is calculated as follows.

[0070] θ=Tan -1 (A / B)

[0072] Here, A is the difference between the position value of the object based on the second sensor (52) and the distance value (X2) of the object measured by the second sensor (52), and B is a value corresponding to half the distance between the first sensor (50) and the second sensor (52).

[0074] Y-axis Correction for direction

[0076] The shuttle (40) corrects the error in distance in the Y-axis direction, which is parallel to the travel path of the first rail (30), while moving on the first rail (30).

[0077] Specifically, the correction distance (Y) for correcting the distance error in the Y-axis direction is calculated as follows.

[0079] Y=Tan(θ)×C

[0081] Here, C is a value corresponding to 1 / 2 of the width of the return object.

[0083] X-AXIS Correction for direction

[0085] The shuttle (40) corrects the error in distance in the X-axis direction, which is perpendicular to the travel path of the first rail (30) of the transported object while moving on the second rail (32).

[0086] Specifically, the correction distance (X) for correcting the distance error in the X-axis direction is calculated as follows.

[0088] X=Tan(θ)×D

[0090] Here, D is a value corresponding to 1 / 2 of the length of the return.

[0092] As shown in FIG. 4, when the first rail (30) to the third rail (34) are connected to form a Z-shaped conveyor (3), the shuttle (40) performs corrections for the distance and rotation angle of the conveyed object along the Y-axis while moving on the first rail (30), and corrects the distance along the X-axis of the conveyed object while moving on the second rail (32).

[0093] While the shuttle (40) is moving on the third rail (34), it moves to the fourth port (26) without performing correction on the position of the transported object because correction for the X-axis, Y-axis, and rotation angle of the transported object has already been performed.

[0094] As such, in the conveyor system (10) of the present invention, the process of sorting the conveyed object after the shuttle stops at each port as in the prior art is not performed every time, and the position of the conveyed object is corrected only while the shuttle (40) moves along the first rail (30) and the second rail (32), so the conveying time of the conveyed object can be shortened.

[0095] FIG. 7 is a drawing illustrating an application example in an I-type conveyor, and FIG. 8 is a drawing illustrating an application example in an L-type conveyor.

[0096] The conveyor system (10) of the present invention can also be applied to conveyors (3) consisting of I-type and L-type conveyors.

[0097] Specifically, as illustrated in FIG. 7, when the conveyor (3) is configured in an I-shape, only a first rail (30) is installed between the stokers (1, 2), and a port is placed at each point where the first rail (30) meets the stokers (1, 2). Additionally, first to third sensors (50, 52, 54) are installed at each port.

[0098] In this case, since correction in the X-axis direction perpendicular to the first rail (30) is unnecessary, the shuttle (40) corrects the position of the conveyed object only in the Y-axis direction parallel to the first rail (30) and the rotation angle while moving along the first rail (30). The correction distance (Y) in the Y-axis direction and the correction angle (θ) for correcting the error in the angle of the conveyed object are calculated in the same way as described above.

[0099] Meanwhile, as illustrated in FIG. 8, when the conveyor (3) is configured in an L-shape, the stokers (1, 2) are connected by the first rail (30) and the second rail (32), and ports are installed at the point where the rails (30, 32) and the stokers (1, 2) meet, and at the intersection point of the rails (30, 32). Additionally, sensors (50, 52, 54) are installed in the ports installed at the point where the rails (30, 32) and the stokers (1, 2) meet.

[0100] In the case of the L-type, as in the Z-type conveyor (3), the error in the position of the conveyed object with respect to the Y-axis direction, rotation angle, and X-axis direction is corrected while the shuttle (40) travels on the first rail (30) and the second rail (32), respectively.

[0101] As described above, the conveyor system (10) of the present invention is very useful in that it can reduce the time and cost required for sorting conveyed objects by correcting the position error of the conveyed objects while the shuttle (40) loaded with conveyed objects is traveling, and it can prevent the generation of contaminant particles during the sorting process of conveyed objects by excluding the task of gripping and sorting the conveyed objects at the port, unlike conventional methods.

[0102] The foregoing description is merely an illustrative explanation of the technical concept of the present invention, and those skilled in the art to which the present invention pertains will be able to make various modifications, changes, and substitutions within the scope of the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are intended to explain, not limit, the technical concept of the present invention, and the scope of the technical concept of the present invention is not limited by such embodiments and accompanying drawings. The scope of protection of the present invention shall be interpreted by the claims, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the present invention. Explanation of the symbols

[0103] 1, 2: Stalker 3: Conveyor 4: Centering Unit 5: Air Chuck 10: Automatic material sorting conveyor system 20: Port 1 22: Port 2 24: Port 3 26: Port 4 30: 1st rail 32: 2nd rail 34: 3rd Rail 40: Shuttle 50: 1st sensor 52: 2nd sensor 54: Third sensor

Claims

Claim 1 A port for loading or unloading a carrier between a stoker; a first rail forming a straight travel path from the port; a shuttle for transporting the carrier loaded at the port along the first rail; and at least three sensors installed at the port for measuring the distance to the carrier loaded at the port, wherein the shuttle aligns the carrier to a correct position using the distance values ​​measured by the sensors, wherein the at least three sensors comprise a first sensor and a second sensor for measuring the distance to the carrier loaded at the port in a direction perpendicular to the travel path of the first rail, and a third sensor for measuring the distance to the carrier loaded at the port in a direction parallel to the travel path of the first rail, wherein the second sensor is positioned at a position advanced by a predetermined distance along the travel path of the first rail from the first sensor, and wherein if the difference between the distance values ​​measured by the first sensor and the second sensor is greater than or less than zero, the shuttle rotates the carrier while moving on the first rail to... Correcting the error with respect to the angle, wherein the correction angle (θ) for correcting the error with respect to the angle of the above-mentioned return is defined as follows, θ=Tan -1 (A / B) A conveyor automatic alignment conveyor system characterized in that, where A is the difference between the position value of the conveyed object based on the second sensor and the distance value of the conveyed object measured by the second sensor, and B is a value corresponding to 1 / 2 of the distance between the first sensor and the second sensor. Claim 2 delete Claim 3 delete Claim 4 delete Claim 5 A conveyor automatic alignment conveyor system according to claim 1, characterized in that the shuttle corrects the error in distance with respect to the direction parallel to the travel path of the first rail while moving on the first rail. Claim 6 A conveyor automatic alignment conveyor system characterized in that, in claim 5, the correction distance (Y) for correcting the distance error in the direction parallel to the travel path of the first rail is defined as follows, Y = Tan(θ) × C, wherein C is a value corresponding to 1 / 2 of the width of the conveyed object. Claim 7 A conveyor automatic sorting conveyor system according to claim 6, further comprising a second rail forming a travel path extended in a direction perpendicular to the first rail, wherein the shuttle conveys the conveyed material along the first rail and the second rail. Claim 8 A conveyor automatic alignment conveyor system according to claim 7, characterized in that the shuttle corrects the distance error with respect to the direction perpendicular to the travel path of the first rail of the conveyor while moving on the second rail. Claim 9 In claim 8, the correction distance (X) for correcting the distance error in the direction perpendicular to the travel path of the first rail is defined as follows, X = Tan(θ) × D, wherein D is a value corresponding to 1 / 2 of the length of the conveyed material, characterized by an automatic conveyed material alignment conveyor system. Claim 10 An automatic conveyor system for sorting conveyed materials according to claim 9, further comprising a third rail forming a travel path extended in a direction perpendicular to the second rail, wherein the shuttle conveys the conveyed material along the first rail, the second rail, and the third rail.

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