Glass plate package manufacturing method and manufacturing device

Abstract

The manufacturing method of a glass plate package (PB) comprises: a position measuring step, in which a measuring device (25) is used to measure the position of a pallet (P); and a correction step, in which a control device (9) is used to control a loading device (8) in a manner to correct the loading position of a glass plate (G) relative to the pallet (P) based on the position information of the pallet (P) measured in the position measuring step.

Description

Technical Field

[0001] The present invention relates to a method and an apparatus for producing a glass plate package formed by placing glass plates on a tray. Background Art

[0002] As is well known, when storing and transporting glass plates, a glass plate stack formed by alternately stacking protective sheets and glass plates is sometimes loaded on a pallet in a longitudinal position (approximately vertical position) or a transverse position (approximately horizontal position) to form a glass plate package, and this operation is automated by a packaging device.

[0003] For example, Patent Document 1 discloses a packaging device comprising: a glass plate supply device having a supply workbench; a transfer device that transfers the glass plate to a loading workbench; a protection sheet supply device that supplies the protection sheet to the loading workbench; a loading device that loads the glass plate and the protection sheet; and a packaging pallet device having a loading workbench for arranging the pallet.

[0004] In the method of manufacturing a glass plate package using the packaging device, first, a glass plate supplied to a supply table by a glass plate supply device is transferred to a loading table by a transfer device, and the glass plate and the protection sheet are overlapped on the loading table. Then, the glass plate and the protection sheet are loaded from the loading table to a tray of the loading table by a loading device. Thus, a glass plate package is formed in which a plurality of glass plates and a plurality of protection sheets are alternately stacked on a tray.

[0005] Thereafter, the glass plate package is unloaded from the loading platform, and a new empty pallet is placed on the loading platform.

[0006] Prior art literature

[0007] Patent Literature

[0008] Patent Document 1: Japanese Patent Application Publication No. 2010-93022 Summary of the invention

[0009] Problems to be solved by the invention

[0010] In the conventional method for manufacturing a glass plate package, when an empty pallet is placed on a loading table, the pallet may be slightly offset from a predetermined position. When the position of the pallet is offset, the glass plates cannot be accurately loaded on the pallet, and the glass plates are loaded on the pallet in a state where the position is offset. In this case, since the commodity value is significantly reduced, the glass plates are removed from the pallet and loaded on the pallet again. As a result, the manufacturing efficiency is significantly reduced.

[0011] Therefore, in the past, it was necessary for the operator to visually check whether the glass plate initially placed on the pallet was arranged at the specified position. In addition, when the glass plate was misaligned, the operator had to correct the loading position of the glass plate by the loading device and the position of the pallet. These operations were performed while the packaging device was stopped, resulting in a decrease in productivity.

[0012] The present invention has been made in view of the above circumstances, and a technical object of the present invention is to load glass plates on a tray efficiently and accurately.

[0013] Solutions to Solve Problems

[0014] The present invention is used to solve the above-mentioned problems and is a method for manufacturing a glass plate package, which manufactures a glass plate package by loading glass plates on a pallet using a loading device, and the method for manufacturing a glass plate package is characterized in that it includes: a position measuring step of measuring the position of the pallet using a measuring device; and a correction step of controlling the loading device by a control device in a manner to correct the loading position of the glass plates relative to the pallet based on the position information of the pallet measured in the position measuring step.

[0015] According to this structure, in the position measuring step, the position of the tray is measured by the measuring device, so that even if the tray is offset from the desired position (reference position), the position of the tray can be accurately determined. In addition, in the correction step, the control device controls the loading device in a manner to correct the loading position of the glass plate relative to the tray based on the position information of the tray measured by the position measuring step, so that even if the tray is offset from the desired position, the glass plate can be loaded on the tray at the set optimal position. As a result, the operation of the operator confirming and correcting the position of the glass plate and the tray while the loading device is stopped as in the past can be omitted. As described above, according to this method, the glass plate can be loaded on the tray efficiently and accurately.

[0016] The loading device may include a holding portion for holding the glass plate, and the measuring device may be attached to the holding portion. By integrating the measuring device with the holding portion of the loading device, it is possible to simplify the equipment.

[0017] Alternatively, the holding portion may include a main body portion having a rectangular shape, the main body portion including a first side and a second side forming a predetermined angle with respect to the first side, and the measuring device may include: a first measuring portion and a second measuring portion, which are arranged corresponding to the first side; and a third measuring portion, which is arranged corresponding to the second side. Thus, position information such as the position of the pallet in the horizontal direction and the levelness of the pallet can be measured with good accuracy.

[0018] The measuring device may include a fourth measuring unit disposed corresponding to the second side. This allows the position of the tray to be measured efficiently.

[0019] In the present method, the tray may be configured to support the glass plate in a vertical position, the tray may include a bottom surface supporting the lower end of the glass plate, and the measuring device may include a measuring unit for measuring the position of the bottom surface. By measuring the position of the bottom surface of the tray using the measuring unit of the measuring device, the glass plate can be placed on the bottom surface efficiently and accurately.

[0020] The present invention is used to solve the above-mentioned problems and is a manufacturing device for a glass plate package, which manufactures a glass plate package by loading glass plates on a pallet, and is characterized in that it includes: a measuring device that measures the position of the pallet; a loading device that loads the glass plates on the pallet; and a control device that controls the loading device in a manner that corrects the loading position of the glass plates relative to the pallet based on the position information of the pallet measured by the measuring device.

[0021] According to this structure, by measuring the position of the tray using the measuring device, the position of the tray can be accurately determined even when the tray is offset from the desired position (reference position). In addition, the control device controls the loading device in a manner to correct the loading position of the glass plate relative to the tray based on the position information of the tray measured by the measuring device, so that the glass plate can be loaded on the tray at the set optimal position even when the tray is offset from the desired position. As a result, the operation of the operator confirming and correcting the position of the glass plate and the tray while the loading device is stopped as in the past can be omitted. As described above, according to this device, the glass plate can be loaded on the tray efficiently and accurately.

[0022] Effects of the Invention

[0023] According to the present invention, glass plates can be loaded on a tray efficiently and accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a top view of the manufacturing apparatus of the glass plate package of 1st Embodiment.

[0025] Figure 2 It is a side view of the manufacturing apparatus of the glass plate package.

[0026] Figure 3 It is a top view of the holding portion of the loading device.

[0027] Figure 4It is a functional block diagram of the control device.

[0028] Figure 5 This is a flowchart showing a method for manufacturing a glass plate package.

[0029] Figure 6 It is a side view of the transfer device in the transfer process.

[0030] Figure 7 This is a perspective view of a glass plate and a protective sheet during a transfer process.

[0031] Figure 8 This is a side view of the loading device in the position measuring step of the loading step.

[0032] Fig. 9 This is a top view of the loading device in the position measuring step of the loading step.

[0033] Fig.10 This is a top view of the loading device in the position measuring step of the loading step.

[0034] Fig.11 This is a top view of the loading device in the position measuring step of the loading step.

[0035] Fig.12 It is a side view of the loading device during the loading process.

[0036] Fig.13 It is a perspective view of a measuring device according to a second embodiment.

[0037] Fig.14 It is a side view of the loading device and the pallet according to the third embodiment.

[0038] Fig.15 This is a front view of the loading device and the pallet.

[0039] Fig.16 This is a front view of the loading device and the pallet in the position measurement step of the loading process.

[0040] Fig.17 This is a front view of the loading device and the pallet in the position measurement step of the loading process.

[0041] Fig.18 This is a front view of the loading device and the pallet in the position measurement step of the loading process.

[0042] Fig.19 It is a top view of the loading device during the loading process. DETAILED DESCRIPTION

[0043] Hereinafter, specific embodiments of the present invention will be described with reference to the accompanying drawings. Figures 1 to 12A first embodiment of a method and apparatus for producing a glass plate package according to the present invention will be described.

[0044] The manufacturing apparatus of the present invention forms a glass plate package PB by alternately stacking a plurality of glass plates G and protective sheets PS on a tray P. The packaged glass plates G are configured in a rectangular shape, but the shape of the glass plates G is not limited to this embodiment. The glass plate G has a first main surface Ga and a second main surface Gb, which are in a front-back relationship; and an end surface Gc, which connects the first main surface Ga and the second main surface Gb.

[0045] The pallet P is configured in a rectangular shape (e.g., a long rectangle) when viewed from above. The pallet P includes: a first side Pa; a second side Pb and a third side Pc, which are perpendicular to the first side Pa; and a fourth side Pd, which is parallel to the first side Pa. In addition, the pallet P includes a metal base BA and a buffer member BM provided on the upper surface of the base BA.

[0046] like Figure 1 as well as Figure 2 As shown, the manufacturing apparatus 1 includes a conveying line 2 that conveys a glass plate G, and a packaging line 3 that loads the glass plate G conveyed by the conveying line 2 on a pallet P to form a glass plate package PB.

[0047] The conveying line 2 includes a conveyor 4 for conveying a glass sheet G. The conveyor 4 includes a supply stage 5 from which the glass sheet G can be taken out.

[0048] The conveyor 4 is composed of a floating conveyor, a roller conveyor, and other various conveyors. The floating conveyor, for example, has a floating portion such as an air support that floats the glass sheet G by ejecting air, and a conveying portion such as a roller that contacts the end of the glass sheet G to convey the glass sheet G. The conveyor 4 transports a plurality of glass sheets G in a row.

[0049] In the conveying line 2 , the glass sheets G are inspected. The inspected glass sheets G are loaded on pallets P in the packing line 3 .

[0050] The packing line 3 includes a transfer device 6 that takes out the glass plate G from the conveying line 2 , a protection sheet supply device 7 that supplies a protection sheet PS, a loading device 8 that loads the glass plate G and the protection sheet PS on the pallet P, and a control device 9 that controls each of the devices 6 to 8 .

[0051] The transfer device 6 includes a base 10 , a guide rail 11 that guides the base 10 so as to be able to linearly reciprocate, and a robot arm 12 that is disposed on the base 10 .

[0052] The robot arm 12 has a multi-joint structure and has a holding portion 13 at its front end for holding the glass plate G. The holding portion 13 includes a main body 14 and a plurality of suction pads 15 provided on the main body 14. The main body 14 includes a plurality of columnar portions 16 that are spaced apart and parallel to each other. The columnar portions 16 are hollow and each includes a plurality of suction pads 15.

[0053] The robot arm 12 transfers the glass sheet G held by the holding portion 13 from the supply table 5 of the conveying line 2 to the supply position of the protection sheet PS in the protection sheet supply device 7. At this time, the robot arm 12 can reverse the vertical direction of the first main surface Ga and the second main surface Gb of the glass sheet G (reversal action) and change the direction of the glass sheet G (rotation action). Figure 2 As shown in FIG. 1 , the supply stage 5 has a structure in which the suction pad 15 and the columnar portion 16 of the transfer device 6 can be inserted below the glass plate G.

[0054] The protective sheet supply device 7 pulls out a strip-shaped sheet from the raw material roll R and cuts the strip-shaped sheet into a predetermined size, thereby forming a single protective sheet PS. The protective sheet supply device 7 includes: a loading table 17, which is a supply position for the protective sheet PS and a loading position for the glass plate G transferred by the transfer device 6; and a cutter (for example, a rotary cutter, a guillotine cutter, etc.) that cuts the strip-shaped sheet. It should be noted that, as the protective sheet PS, for example, glass interleaving paper is used, but the material and structure of the protective sheet PS are not limited to the scheme of this embodiment.

[0055] like Figure 1 as well as Figure 2 As shown, the loading device 8 includes: a base 18; a guide rail 19 that guides the base 18 to be able to reciprocate linearly; and a robot arm 20 that is disposed on the base 18. The robot arm 20 has a multi-joint structure and includes a holding portion 21 at its front end for holding the glass plate G and the protective sheet PS together.

[0056] like Figures 1 to 3 As shown, the holding portion 21 has a rectangular main body 22. The main body 22 is composed of a frame body formed in a lattice shape. The main body 22 includes: a first side 22a; a second side 22b and a third side 22c, which form a predetermined angle (for example, 90°) with respect to the first side 22a; and a fourth side 22d, which is parallel to the first side 22a.

[0057] The main body 22 includes a plurality of suction pads 23 that hold the glass plate G, a clamp 24 that holds the protection sheet PS, and a measuring device 25 that measures the position of the pallet P.

[0058] Each suction pad 23 is provided at a predetermined interval on one surface of the main body 22, and is suctioned to the surface of the glass plate G (for example, the second main surface Gb) overlapping the protection sheet PS. The clamping part 24 holds the protection sheet PS by gripping the edge of the protection sheet PS placed on the placement table 17. The clamping part 24 is supported by a support frame 26 fixed to the main body 22.

[0059] like Figure 2 as well as Figure 3 As shown, the measuring device 25 is installed on the main body 22 and includes: a first measuring part 25a and a second measuring part 25b, which are arranged corresponding to the first side 22a of the main body 22; and a third measuring part 25c and a fourth measuring part 25d, which are arranged corresponding to the second side 22b of the main body 22.

[0060] The first measuring unit 25a and the second measuring unit 25b are arranged at a predetermined interval along the first side 22a of the main body 22. The third measuring unit 25c and the fourth measuring unit 25d are arranged at a predetermined interval along the second side 22b of the main body 22. Each of the measuring units 25a to 25d is composed of a laser sensor, but is not limited to this structure and may be composed of a camera or other equipment.

[0061] The control device 9 includes, for example, a computer (console, PC, etc.) equipped with various hardware such as a CPU, ROM, RAM, HDD, monitor, and input / output interface. Figure 4 As shown, the control device 9 includes: a processing unit 27 that performs various operations; a storage unit 28 that stores various data; and a communication unit 29 that communicates with the transfer device 6, the protection sheet supply device 7, and the loading device 8. These components 27 to 29 are connected to each other by a bus.

[0062] The calculation processing unit 27 performs calculation processing related to the transfer operation of the glass plate G performed by the transfer device 6, the supply operation of the protection sheet PS performed by the protection sheet supply device 7, the loading operation of the glass plate G performed by the loading device 8, and the control of the position measurement of the pallet P performed by the measuring device 25.

[0063] The storage unit 28 stores data and programs required for control by the calculation processing unit 27. For example, the storage unit 28 stores control programs related to the transfer device 6, the protection sheet supply device 7, and the loading device 8, the position data of the pallet P measured by the measuring device 25, and data related to the reference position of the pallet P. The storage unit 28 stores coordinate data of a three-dimensional coordinate system (XYZ orthogonal coordinate system) related to the operation of the robot arm 12 of the transfer device 6 and the robot arm 20 of the loading device 8. The reference position of the pallet P stored in the storage unit 28 is set in the three-dimensional coordinate system.

[0064] The communication unit 29 is connected to the transfer device 6, the protection sheet supply device 7 and the loading device 8 so as to be communicable. The communication unit 29 transmits the control signal processed by the calculation processing unit 27 to each device 6 to 8. The communication unit 29 is connected to the robot arm 20 of the loading device 8 and the measuring device 25 so as to be communicable.

[0065] Hereinafter, a method for manufacturing the glass plate package PB using the manufacturing apparatus 1 having the above-mentioned configuration will be described.

[0066] like Figure 5 As shown, the method includes a glass plate conveying step S1, a transfer step S2, a loading step S3, and a package conveying step S4.

[0067] In the glass plate conveying step S1, the glass plate G is conveyed by the conveyor 4 of the conveying line 2 and undergoes a prescribed inspection. It should be noted that in the present embodiment, the first main surface Ga of the glass plate G becomes the quality assurance surface (product surface), and in the glass plate conveying step S1, the glass plate G is conveyed in a state where the first main surface Ga faces upward.

[0068] While the glass sheet G is being conveyed by the conveyor 4 , the positions and numbers of defects on the surface (first main surface Ga) and inside of the glass sheet G are detected. In the glass sheet conveying step S1 , the conveyor 4 places the inspected glass sheet G on the supply stage 5 .

[0069] In the transfer step S2 , the protection sheet PS is supplied to the placement table 17 of the protection sheet supply device 7 . Then, the transfer device 6 holds the glass sheet G placed on the supply table 5 by the holding unit 13 , and transfers the glass sheet G to the placement table 17 .

[0070] Specifically, if Figure 6 As shown, the transfer device 6 arranges the holding portion 13 below the glass plate G arranged on the supply table 5, and uses the suction pad 15 of the holding portion 13 to suck the lower surface (second main surface Gb) of the glass plate G. Then, the transfer device 6 operates the robot arm 12 to reverse the glass plate G, and changes the direction of the glass plate G and moves it to the loading table 17.

[0071] like Figure 1 as well as Figure 7As shown in the figure, the glass plate G conveyed by the conveyor 4 is arranged on the supply table 5 with its long side along the conveying direction, but when transferred to the loading table 17, it is arranged with its long side along the direction orthogonal to the conveying direction. In addition, the glass plate G placed on the loading table 17 is in a state where the second main surface Gb faces upward and the first main surface Ga faces downward due to the reversal action of the robot 12 in the transfer step S2. Therefore, the glass plate G overlapped with the protection sheet PS on the loading table 17 is in a state where the first main surface Ga contacts the protection sheet PS.

[0072] In the loading step S3, before loading the glass sheet G on the pallet P, a preparation step is performed to measure the position of the pallet P and adjust the position of the glass sheet G placed on the pallet P. The preparation step includes a position measuring step of measuring the position of the pallet P and a correction step of correcting the loading position of the glass sheet G relative to the pallet P based on the position of the pallet P measured in the position measuring step.

[0073] like Figure 8 As shown, in the position measurement process, the control device 9 drives the robot arm 20 of the loading device 8 to move the main body 22 toward the pallet P. The main body 22 is arranged at the measurement reference position above the pallet P without holding the glass plate G and the protection sheet PS. When the main body 22 is arranged at the measurement reference position, each measuring part 25a to 25d of the measuring device 25 is located inside the quadrilateral divided by the first side Pa to the fourth side Pd of the pallet P in a plan view.

[0074] When the main body 22 reaches the measurement reference position, the control device 9 controls the robot arm 20 to move the main body 22 from the measurement reference position, and starts measurement of the position of the pallet P by the measuring device 25 .

[0075] In the position measuring step, the robot arm 20 moves the main body 22 up and down, so that each measuring unit 25a to 25d of the measuring device 25 measures the change in the distance from the upper surface of the pallet P (the upper surface of the buffer member BM) in the up-down direction (Z-axis direction) (see Figure 8 ).

[0076] like Fig. 9 as well as Fig.10 As shown, in the position measuring step, the robot arm 20 moves the main body 22 in the horizontal direction from the measurement reference position to measure the position of the pallet P in the horizontal direction.

[0077] Specifically, if Fig. 9As shown in FIG. 1 , the main body 22 moves in the horizontal direction (X-axis direction), so that the first measuring section 25a and the second measuring section 25b move from the inside to the outside of the quadrilateral formed by the sides Pa to Pd of the pallet P in a plan view. At this time, the first measuring section 25a and the second measuring section 25b pass over the first side Pa of the pallet P and detect the first side Pa.

[0078] In addition, if Fig.10 As shown in FIG. 1 , the main body 22 moves in the horizontal direction (Y-axis direction), so that the third measuring section 25c and the fourth measuring section 25d move from the inside to the outside of the quadrilateral formed by the sides Pa to Pd of the pallet P in a plan view. At this time, the third measuring section 25c and the fourth measuring section 25d pass over the second side Pb of the pallet P and detect the second side Pb.

[0079] like Fig.11 As shown in FIG. 1 , the robot arm 20 rotates the main body 22 located at the measurement reference position around the rotation axis O along the vertical direction (Z-axis direction) by operating its wrist joint. Thus, the second measuring unit 25b and the third measuring unit 25c detect the positions of the first side Pa and the second side Pb of the pallet P related to the rotation operation around the rotation axis O.

[0080] Each of the measuring units 25a to 25d transmits the measured position information (measurement data) of the pallet P to the control device 9. When the communication unit 29 of the control device 9 receives the measurement data from the measuring units 25a to 25d, the calculation processing unit 27 starts the calibration process.

[0081] In the calibration process, the calculation processing unit 27 of the control device 9 calculates the inclination angle (horizontality) of the upper surface relative to the horizontal direction based on the data of the distance between each measuring unit 25a to 25d and the upper surface of the pallet P in the vertical direction. The calculation processing unit 27 calculates the deviation amount of the pallet P relative to the reference position based on the position information of the first side Pa and the second side Pb of the pallet P when each measuring unit 25a to 25d moves in the horizontal direction and rotates around the rotation axis O (the movement distance of each measuring unit 25a to 25d) and the data of the reference position stored in the storage unit 28.

[0082] That is, the calculation processing unit 27 can calculate the positional deviation amount of the pallet P in the horizontal direction from the reference position based on the difference between the measured value when the main body 22 (measuring device 25) is moved in the horizontal direction and the value of the reference position. In addition, the calculation processing unit 27 can calculate the positional deviation amount (tilt deviation amount) of the pallet P around the rotation axis O based on the difference between the measured value when the main body 22 (measuring device 25) is rotated around the rotation axis O and the value of the reference position stored in the storage unit 28.

[0083] The calculation processing unit 27 corrects the data of the loading position of the glass sheet G with respect to the pallet P based on the calculated positional deviation of the pallet P. The control device 9 sends a control signal to the robot arm 20 so as to convey the glass sheet G to the corrected loading position.

[0084] Afterwards, if Fig.12 As shown, the loading device 8 holds the glass plate G and the protection sheet PS placed on the placement table 17 by the holding portion 21 of the robot 20 , and transfers them to the loading table 30 .

[0085] Specifically, the loading device 8 places the holding portion 21 above the loading table 17 by the operation of the robot arm 20, and then lowers the holding portion 21 to adsorb the second main surface Gb of the glass plate G by the adsorption pad 23. Furthermore, the loading device 8 causes the clamping portion 24 of the holding portion 21 to grip the edge of the protection sheet PS. Thus, the glass plate G and the protection sheet PS stacked on the loading table 17 are held by the holding portion 21.

[0086] After that, the loading device 8 drives the robot arm 20 to move the holding portion 21 toward the loading workbench 30. At this time, the robot arm 20 changes the direction of the glass plate G and the protective sheet PS held by the holding portion 21 through the movement of its wrist joint and the like. Fig.12 As shown by the two-dot chain line, the loader 8 arranges the holding portion 21 above the pallet P. At this time, the robot 20 arranges the main body 22 based on the corrected position information received from the control device 9. Thereafter, the robot 20 lowers the holding portion 21 and approaches the pallet P.

[0087] Then, the loading device 8 releases the suction of the glass plate G by the suction pad 23 of the holding portion 21 and the gripping of the protection sheet PS by the clamping portion 24. Thus, the first glass plate G is placed on the upper surface of the buffer member BM of the pallet P together with the protection sheet PS.

[0088] The glass plate G placed on the tray P is in a state in which its direction is rotated by 90° in a plan view, compared to the case of being placed on the placement table 17 .

[0089] After that, the robot arm 20 holds the second glass plate G and the protective sheet PS placed on the placement table 17, and loads the second glass plate G onto the first glass plate G placed on the pallet P. When a predetermined number of glass plates G are loaded on the pallet P, the loading step S3 is completed, and a glass plate package PB in which a plurality of glass plates G and protective sheets PS are alternately stacked on the pallet P is formed.

[0090] In the package conveying step S4, the glass plate package PB is conveyed to the outside through a package conveying path (not shown). The glass plate package PB is conveyed out using a conveying mechanism such as a hand lift, a forklift, or an automatic guided vehicle (AGV).

[0091] A new empty pallet P is carried into the loading table 30 from which the glass plate package PB has been carried out (tray supply process). The new empty pallet P supplied to the loading table 30 is measured by the measuring device 25 in the next position measuring process.

[0092] According to the manufacturing apparatus 1 and manufacturing method of the glass plate package PB of the present embodiment described above, the position of the pallet P is measured by the measuring device 25 in the position measuring step of the loading step S3. Therefore, even if the pallet P is arranged offset from the reference position, the position of the pallet P can be accurately determined.

[0093] In addition, in the correction process of the loading process S3, the control device 9 controls the loading device 8 so as to correct the loading position of the glass plate G relative to the pallet P based on the position information of the pallet P measured in the position measuring process (measuring device 25). Therefore, even if the pallet P is arranged offset from the reference position, the glass plate G can be loaded on the pallet P at the set optimal position. As a result, the operation of the operator confirming and correcting the position of the pallet P in the state where the loading device 8 is stopped as in the past can be omitted. Therefore, according to the present invention, the glass plate G can be loaded on the pallet P efficiently and accurately.

[0094] Fig.13 A second embodiment of the method and apparatus for producing a glass plate package of the present invention is described. In this embodiment, the configuration of the measuring device and the loading step are different from those of the first embodiment.

[0095] In the manufacturing apparatus of the glass plate package of the present embodiment, the measuring device 25 is not provided in the holding portion 21 of the loading device 8. In the present embodiment, the measuring device 25 is provided independently of the loading device 8 on the loading table 30. Except for the structure of the measuring device 25, the manufacturing apparatus of the second embodiment is the same as the first embodiment, and includes a conveying line 2 and a packaging line 3.

[0096] like Fig.13As shown, the measuring device 25 includes a first measuring unit 25a, a second measuring unit 25b and a third measuring unit 25c. Each measuring unit 25a~25c is configured to be movable in three dimensions by a moving mechanism. Each measuring unit 25a~25c can be moved to a standby position (a position indicated by a double-dotted chain line) separated from the pallet P and a measuring position (a position indicated by a solid line) capable of measuring the position of the pallet P. Each measuring unit 25a~25c is composed of a camera, but can also be composed of a laser sensor or other equipment. Each measuring unit 25a~25c is connected to the control device 9 so as to be able to communicate.

[0097] The first measuring unit 25a captures an image of the first side Pa of the pallet P at its measuring position. The second measuring unit 25b captures an image of the second side Pb of the pallet P at its measuring position. The third measuring unit 25c captures an image of the fourth side Pd of the pallet P at its measuring position.

[0098] In the manufacturing method of the glass plate package PB of the present embodiment, in the loading step S3, each measuring unit 25a to 25c receives a control signal from the control device 9 and moves from the standby position to the measuring position. Each measuring unit 25a to 25c measures (photographs) the position of the pallet P (the position of the first side Pa, the second side Pb, and the fourth side Pd) at the measuring position. The image photographed by each measuring unit 25a to 25c is sent to the data control device 9. When the measurement is completed, each measuring unit 25a to 25c moves from the measuring position to the standby position.

[0099] The processing unit 27 of the control device 9 performs image processing on the image data received from the measuring units 25a to 25c to identify the position of the pallet P. The processing unit 27 compares the measured position information of the pallet P with the value of the reference position to calculate the positional deviation of the pallet P from the reference position.

[0100] The control device 9 corrects the data of the loading position of the glass plate G loaded by the robot arm 20 of the loading device 8 based on the amount of deviation of the pallet P from the reference position. The control device 9 sends a control signal related to the corrected position data to the robot arm 20. The robot arm 20 loads the held glass plate G and the protective sheet PS onto the pallet P based on the corrected position data received from the control device 9.

[0101] Figures 14 to 19 A third embodiment of the method and apparatus for manufacturing a glass plate package of the present invention is described. In this embodiment, the arrangement of the tray, the measuring device, and the loading step is different from that of the first embodiment.

[0102] The glass plate package of the present embodiment is manufactured by placing glass plates G in a vertical posture on a pallet P. The pallet P has side surfaces SS supporting the surface (first main surface Ga) of the glass plates G in the vertical posture and bottom surfaces BS1 and BS2 supporting the lower end portions of the glass plates G.

[0103] like Fig.14 As shown in FIG. 1 , the side surface SS of the pallet P is inclined at a predetermined angle (eg, 1° to 60°) relative to the vertical direction (Z-axis direction). Fig.15 As shown, the side surface SS is configured in a rectangular shape, for example, but is not limited to this shape. The side surface SS has a first side SSa, a second side SSb and a third side SSc, which are orthogonal to the first side SSa, and a fourth side SSd, which is substantially parallel to the first side SSa.

[0104] The bottom surfaces BS1 and BS2 of the pallet P are inclined at a predetermined angle relative to the horizontal direction (Y-axis direction). The bottom surfaces BS1 and BS2 include a first bottom surface BS1 and a second bottom surface BS2 that are spaced apart by a predetermined interval. The angle between each bottom surface BS1 and BS2 and the side surface SS is approximately 90°, but the present invention is not limited to this solution.

[0105] The measuring device 25 of the loading device 8 includes: first to fourth measuring parts 25a to 25d for measuring the position of the side surface SS of the pallet P; and a fifth measuring part 25e for measuring the position of the bottom surface BS1 and BS2 of the pallet P. The structures of the first to fourth measuring parts 25a to 25d are the same as those of the first embodiment.

[0106] The fifth measuring unit 25e is composed of, for example, a laser sensor, but is not limited to this structure. The fifth measuring unit 25e is composed of two measuring units to measure the position of the first bottom surface BS1 and the position of the second bottom surface BS2, but the number of the fifth measuring units 25e is not limited to this embodiment. The fifth measuring unit 25e is fixed to the lower part of the support frame 26 of the holding unit 21. It is not limited to this, and the fifth measuring unit 25e may be fixed to, for example, the third side 22c of the main body 22 of the holding unit 21.

[0107] Next, the loading step S3 in the method for manufacturing a glass plate package of the present embodiment will be described. In the position measuring step of the preparation step, the control device 9 controls the robot arm 20 to place the holding portion 21 not holding the glass plate G at the position of the glass plate package. Fig.14 as well as Fig.15 In this case, the third measuring section 25c and the fourth measuring section 25d of the measuring device 25 are located above the second side SSb of the side surface SS of the pallet P. Fig.14As shown in FIG. 1 , the holding portion 21 located at the first measurement reference position is inclined at the same angle as the inclination angle of the side surface SS so as to be parallel to the side surface SS.

[0108] Next, the control device 9 controls the robot arm 20 to move the holding portion 21 from the first measurement reference position, and starts measuring the position of the pallet P by the measuring device 25. Fig.16 As shown in FIG. 1 , the main body 22 of the holding portion 21 moves from the first measurement reference position (the position indicated by the two-dot chain line) to the second measurement reference position (the position indicated by the solid line) set below the first measurement reference position. The holding portion 21 moves downward in a direction substantially parallel to the inclination direction of the side surface SS of the pallet P. In other words, the holding portion 21 moves downward in a direction substantially orthogonal to the bottom surfaces BS1 and BS2 of the pallet P.

[0109] During the movement of the holding portion 21, the third measuring portion 25c and the fourth measuring portion 25d of the measuring device 25 detect the second side SSb of the side surface SS of the pallet P. In addition, the measuring device 25 performs the measurement of the position of the bottom surfaces BS1 and BS2 by the fifth measuring portion 25e during the movement. The two fifth measuring portions 25e measure the change in the distance to the first bottom surface BS1 and the change in the distance to the second bottom surface BS2. In conjunction with this, the height (position in the Z-axis direction) of the bottom surfaces BS1 and BS2 of the pallet P can be measured by the two fifth measuring portions 25e. In addition, the inclination of the bottom surfaces BS1 and BS2 relative to the X-axis direction (the difference between the height of the first bottom surface BS1 and the height of the second bottom surface BS2) can be measured.

[0110] like Fig.17 As shown, when the holding portion 21 is arranged at the second measurement reference position, the robot arm 20 moves the holding portion 21 in the horizontal direction (X-axis direction). The first measuring portion 25a and the second measuring portion 25b of the measuring device 25 move from the inside to the outside of the quadrilateral formed by the sides SSa to SSd of the side surface SS of the pallet P when viewed from the front. At this time, the first measuring portion 25a and the second measuring portion 25b detect the first side SSa of the side surface SS. In addition, the fifth measuring portion 25e detects the position of the bottom surfaces BS1 and BS2 of the pallet P in the horizontal direction (X-axis direction). Thereafter, the robot arm 20 moves the holding portion 21 to the second measurement reference position.

[0111] It should be noted that if Fig.18As shown, the robot arm 20 can also rotate the main body 22 located at the second measurement reference position around its rotation axis O by the movement of its wrist joint. Through this rotation, the second measuring unit 25b and the third measuring unit 25c of the measuring device 25 can detect the first side SSa and the second side SSb of the side surface SS of the pallet P.

[0112] In addition, the robot arm 20 can also move the holding portion 21 (main body 22) located at the second reference position in a direction (Y-axis direction) substantially orthogonal to the side surface SS of the pallet P (approaching, moving away). Through the movement of the holding portion 21, the first measuring portion 25a to the fourth measuring portion 25d of the measuring device 25 measure the change in the distance to the side surface SS. In addition, during this movement, the fifth measuring portion 25e can detect the position of the bottom surfaces BS1 and BS2 of the pallet P in the substantially orthogonal direction (Y-axis direction), and can also measure the inclination of the bottom surfaces BS1 and BS2 relative to the substantially orthogonal direction (Y-axis direction).

[0113] Each measuring unit 25a to 25e transmits the measured position information (measurement data) of the pallet P (side surface SS and bottom surface BS1, BS2) to the control device 9. When the communication unit 29 of the control device 9 receives the measurement data from the measuring units 25a to 25e, the calculation processing unit 27 starts the calibration process.

[0114] In the calibration process, the processing unit 27 calculates the inclination angle of the side surface SS based on the data of the distances between the first to fourth measuring units 25a to 25d and the side surface SS of the pallet P. In addition, the processing unit 27 calculates the amount of displacement of the pallet P relative to the reference position based on the position information of the measured first side SSa and second side SSb of the side surface SS and the data of the reference position stored in the storage unit 28.

[0115] The processing unit 27 calculates the amount of displacement of the pallet P from the reference position based on the position information (position and inclination in the X-axis to Z-axis directions) of the bottom surfaces BS1 and BS2 of the pallet P detected by the fifth measuring unit 25 e and the reference position data stored in the storage unit 28 .

[0116] The calculation processing unit 27 calculates the positional deviation amount of the side surface SS around the rotation axis O based on the difference between the measured value when the main body 22 (measuring device 25 ) is rotated around the rotation axis O and the value of the reference position stored in the storage unit 28 .

[0117] The calculation processing unit 27 corrects the data of the loading position of the glass sheet G with respect to the pallet P based on the calculated positional deviation of the pallet P. The control device 9 sends a control signal to the robot arm 20 so as to convey the glass sheet G to the corrected loading position.

[0118] Then, the loading device 8 holds the glass plate G and the protective sheet PS placed on the placement table 17 using the holding portion 21 of the robot arm 20, and transfers them to the loading table 30. Fig.19 As shown by the double-dashed line in the figure, the glass plate G held by the holding portion 21 and the protective sheet PS are placed on the pallet P. In this case, the first main surface Ga of the glass plate G is supported by the side surface SS of the pallet P. In addition, the lower end of the glass plate G is supported by the bottom surfaces BS1 and BS2. Thereafter, the loading device 8 loads the second and subsequent glass plates G together with the protective sheet PS on the pallet P.

[0119] It should be noted that the present invention is not limited to the configuration of the above-described embodiment, nor is it limited to the above-described effects. The present invention can be modified in various ways without departing from the gist of the present invention.

[0120] The loading device 8 of the first embodiment includes the measuring device 25 composed of the first to fourth measuring parts 25a to 25d, but the present invention is not limited to this structure. For example, the measuring device 25 may be configured by omitting one of the first to fourth measuring parts 25a to 25d.

[0121] Furthermore, an additional measuring unit may be provided in the measuring device 25, and the measuring device 25 having more measuring units (five or more) than the first embodiment or more measuring units (four or more) than the second embodiment may be used.

[0122] In the correction process of the first embodiment, the calculation processing unit 27 of the control device 9 calculates the tilt angle (horizontality) based on the data of the distance between each measuring unit 25a to 25d and the upper surface of the pallet P in the vertical direction, and calculates the positional deviation amount of the pallet P from the reference position in the horizontal direction based on the difference between the measured value when the main body 22 (measuring device 25) is moved in the horizontal direction and the value of the reference position, and calculates the positional deviation amount (tilt deviation amount) of the pallet P around the rotation axis O based on the difference between the measured value when the main body 22 (measuring device 25) is rotated around the rotation axis O and the value of the reference position stored in the storage unit 28, but the present invention is not limited to this structure. For example, the calculation and / or correction of the tilt angle (horizontality) and the positional deviation amount (tilt deviation amount) of the pallet P around the rotation axis O may be omitted. Alternatively, the measurement performed while rotating the main body 22 (measuring device 25) about the rotation axis O may be omitted, and the positional deviation (tilt deviation) of the pallet P about the rotation axis O may be calculated based on the measurement value when the main body 22 (measuring device 25) is moved in the horizontal direction. Alternatively, the main body 22 may not be moved up and down, but each measuring unit 25a to 25d of the measuring device 25 may measure the distance from the upper surface of the pallet P (upper surface of the buffer member BM) in the up and down direction (Z-axis direction), and the tilt angle (horizontality) may be calculated based on the result.

[0123] In the first embodiment and the second embodiment, the loading device 8 loads the glass plate G and the protection sheet PS on the pallet P at the same time, but the present invention is not limited to this structure. For example, the loading device 8 may load the glass plate G and the protection sheet PS on the pallet P in sequence. Alternatively, the loading device 8 may include a first loading device for loading the glass plate G and a second loading device for loading the protection sheet PS.

[0124] In the third embodiment, the offset of the side surface SS and the bottom surface BS1, BS2 of the pallet P is calculated, but the offset of only one side may be calculated. The offset of the bottom surface BS1, BS2 may be appropriately selected and measured from the position in the X-axis direction to the Z-axis direction and the inclination relative to the X-axis direction and the Y-axis direction. In other words, some of the measurements may be omitted. For example, if the positional deviation of the glass plate in the Y-axis direction is allowed to a certain extent, the measurement of the position in the Y-axis direction and the inclination relative to the Y-axis direction may be omitted.

[0125] Description of Reference Numerals

[0126] 1 a manufacturing device for a glass plate package; 8 a loading device; 9 a control device; 21 a holding portion; 22 a a main body; 22a a first side of the main body; 22b a second side of the main body; 25 a measuring device; 25a a first measuring portion; 25b a second measuring portion; 25c a third measuring portion; 25d a fourth measuring portion; 25e a fifth measuring portion; BS1 a first bottom surface; BS2 a second bottom surface; G a glass plate; P a tray; PB a glass plate package.

Claims

1. A method for manufacturing a glass plate package, comprising: loading glass plates on a tray using a loading device to manufacture a glass plate package; The method for manufacturing a glass plate package is characterized by comprising: a position measuring step of measuring the position of the tray using a measuring device; as well as a correction step of controlling the loading device by a control device so as to correct the loading position of the glass plate relative to the tray based on the position information of the tray measured in the position measurement step; The loading device includes a holding portion for holding the glass plate. The measuring device is mounted on the holding portion, The tray is configured to be a quadrilateral in a plan view. In the position measuring step, the measuring device is arranged at a measurement reference position and then moves in a predetermined direction to measure the position of the tray. In the position measuring step, the measuring device arranged at the measurement reference position is arranged to overlap with the inner side of a quadrilateral formed by four sides of the tray when viewed from above, and then the position of one side of the quadrilateral is measured by moving to the outer side of the one side when viewed from above. The position measuring step is performed before the glass plate is placed on the tray in a state where the glass plate is not held by the holding unit.

2. The method for producing a glass plate package according to claim 1, wherein: The holding portion includes a main body portion having a rectangular shape, The main body includes a first side and a second side that is at a predetermined angle relative to the first side. The measuring device includes: a first measuring unit and a second measuring unit arranged corresponding to the first side; and a third measuring unit arranged corresponding to the second side.

3. The method for producing a glass plate package according to claim 2, wherein: The measuring device includes a fourth measuring unit arranged corresponding to the second side.

4. A method for manufacturing a glass plate package, comprising: loading glass plates on a tray using a loading device to manufacture a glass plate package. The method for manufacturing a glass plate package is characterized by comprising: a position measuring step of measuring the position of the tray using a measuring device; as well as a correction step of controlling the loading device by a control device so as to correct the loading position of the glass plate relative to the tray based on the position information of the tray measured in the position measurement step; The loading device includes a holding portion for holding the glass plate. The measuring device is mounted on the holding portion, The tray is configured to support the glass plate in a vertical position. The tray includes a quadrilateral side surface supporting the surface of the glass plate and a bottom surface supporting the lower end of the glass plate. The measuring device includes a side surface measuring unit for measuring the position of the side surface and a bottom surface measuring unit for measuring the position of the bottom surface. In the position measurement step, after the measurement device is set at a first measurement reference position, the measurement device is moved to a second measurement reference position set below the first measurement reference position. In the position measuring step, the measuring device moves from the first measurement reference position to the second measurement reference position, whereby the side surface measuring unit measures the position of the upper side of the side surface, and the bottom surface measuring unit measures the height of the bottom surface. The position measuring step is performed before the glass plate is placed on the tray in a state where the glass plate is not held by the holding unit.

5. A glass plate package manufacturing device, which manufactures a glass plate package by loading glass plates on a tray, The manufacturing device of the glass plate package is characterized by comprising: a measuring device for measuring the position of the tray; a loading device for loading the glass plate onto the tray; as well as a control device for controlling the loading device so as to correct the loading position of the glass sheet relative to the tray based on the position information of the tray measured by the measuring device, The loading device includes a holding portion for holding the glass plate. The measuring device is mounted on the holding portion, The tray is configured to be a quadrilateral in a plan view. The measuring device is arranged at a measurement reference position and moves in a predetermined direction to measure the position of the tray. The measuring device disposed at the measurement reference position is arranged to overlap with the inner side of a quadrilateral formed by four sides of the tray in a plan view, and then measures the position of one side by moving to the outer side of one side of the quadrilateral in a plan view. The control device performs the measurement in a state where the glass plate is not held by the holding unit before the glass plate is placed on the tray.

Images