Conveying device and conveying method, sheet sticking device and sheet sticking method

Abstract

To provide a transport system and a sheet pasting device which can prevent an increase in size of the system.SOLUTION: A transport system EA, comprising first sensing means 10 for sensing a position of a transported object contained in containing means SC, holding means 20 for holding the transported object WK, and a holding part 31A which can selectively hold the first sensing means 10 and the holding means 20, comprises transport means 30 that can move the first sensing means 10 or the holding means 20 which is held by the holding part 31A, and control means 40. The control means 40 moves the holding part 31A to the first sensing means holding position HP1 via the transfer means 30 and the first sensing means 10 is held, and then moves the first sensing means to sense the position of the transported object WK, and moves the holding part 31A to a holding means holding position HP2 via the transport means 30 to hold the holding means 20, and then moves the holding means 20 based on the sensing result of the first sensing means 10, and controls members such that the transported object WK is held and transported.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a conveying device and a conveying method, and a sheet sticking device and a sheet sticking method. [Background technology]

[0002] A conveying device is known in which a detection means detects the position of an object to be conveyed stored in a storage means, and based on the detection result, a holding means that holds the object to be conveyed is moved to hold and convey the object to be conveyed (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 7-153818 Summary of the Invention [Problem to be solved by the invention]

[0004] In the process device (transport device) described in Patent Document 1, a wafer recognition device 60 (first detection means) that recognizes a wafer 2 (transport object) and a hand 5 (holding means) that holds the transport object are integrally formed and held by a wafer transport robot 4 (moving means), which has the disadvantage of making the device large.

[0005] An object of the present invention is to provide a conveying device and a conveying method, as well as a sheet sticking device and a sheet sticking method, which can prevent the device from becoming large. [Means for solving the problem]

[0006] The present invention employs the configurations set forth in the claims. [Effects of the Invention]

[0007] According to the present invention, since the moving means has a holding portion that can selectively hold the first detecting means and the holding means, it is possible to prevent the device from becoming large in size. [Brief explanation of the drawings]

[0008] [Figure 1] 1A and 1B are explanatory views of a conveying device and a sheet sticking device according to an embodiment of the present invention, and FIG. 1C is an explanatory view of a conveying device according to a modified example of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0009] An embodiment of the present invention will be described below with reference to FIG. In this embodiment, the X-axis, Y-axis, and Z-axis are orthogonal to each other, and the X-axis and Y-axis are axes within a predetermined plane, and the Z-axis is an axis orthogonal to the predetermined plane. Furthermore, in this embodiment, when viewed from the front direction of Fig. 1(A) parallel to the Y-axis, "up" is the direction of the arrow of the Z-axis, "down" is the opposite direction, "left" is the direction of the arrow of the X-axis, "right" is the opposite direction, "front" is the direction toward the front of Fig. 1(A) parallel to the Y-axis, and "rear" is the opposite direction.

[0010] The conveying device EA is a device for conveying an object to be conveyed WK, and is equipped with a first detection means 10 that performs a first detection step of detecting the position of the object to be conveyed WK stored in a storage means SC that can store the object to be conveyed WK, a holding means 20 that performs a holding step of holding the object to be conveyed WK, a moving means 30 that has a tip arm 31A as a holding part that can selectively hold the first detection means 10 and the holding means 20 and performs a moving step that can move the first detection means 10 or the holding means 20 held by the tip arm 31A, and a control means 40 that performs a control step of controlling the operation of each component that constitutes the conveying device EA and the sheet sticking device EA1. The sheet application device EA1 is an apparatus for applying an adhesive sheet AS to an object to be transported WK, and is equipped with a conveying device EA, an application means 50 that performs an application process of applying an adhesive sheet base material AB to the object to be transported WK, and a cutting means 60 that performs a cutting process of cutting the adhesive sheet base material AB into a predetermined shape to form the adhesive sheet AS, and is arranged near a support table 70 as a support means for supporting the storage means SC, and an object to be transported support means 80 that supports the object to be transported WK.

[0011] The first detecting means 10 includes a bracket 11 that can be held by a moving means 30, and a detecting device 12 that is supported by the bracket 11 and includes an imaging means such as a camera or a projector, and various sensors such as an optical sensor or an ultrasonic sensor. The detecting device 12 in this embodiment is an optical sensor having a light-emitting element 12A and a light-receiving element 12B.

[0012] The holding means 20 can be held by the moving means 30 and includes a holding member 21 having a holding surface 21A that can be sucked and held by a pressure reducing means (holding mechanism) such as a vacuum pump or a vacuum ejector (not shown).

[0013] The moving means 30 is composed of a plurality of arms including a distal arm 31A, and is equipped with a so-called articulated robot 31 as a moving device and driving device that can displace an object supported by the distal arm 31A to any position and any angle within its working range. The moving means 30 of this embodiment is also provided so that the cutting means 60 can be selectively held by the distal arm 31A.

[0014] The control means 40 is equipped with control equipment 41 such as a personal computer or a sequencer, and is configured to control each component so that, via the moving means 30, the tip arm 31A is moved to a first detection means holding position HP1 that holds the first detection means 10, thereby holding the first detection means 10, and then the first detection means 10 is moved to detect the position of the object to be transported WK, and via the moving means 30, the tip arm 31A is moved to a holding means holding position HP2 that holds the holding means 20, thereby holding the holding means 20, and then based on the detection result of the first detection means 10, the holding means 20 is moved to hold and transport the object to be transported WK. Furthermore, the control means 40 of this embodiment is configured to move the distal arm 31A via the moving means 30 to the cutting means holding position HP3 that holds the cutting means 60, and then move the cutting means 60 to form the adhesive sheet AS.

[0015] The joining means 50 includes a support roller 51 that supports the adhesive sheet base AB, a guide roller 52 that guides the adhesive sheet base AB, a pressing means 53 that presses the adhesive sheet base AB against the conveyed object WK to join it, a frame 55 supported by a slider 54A of a linear motor 54 as a driving device, a drive roller 56 that is supported by an output shaft (not shown) of a rotary motor 56A as a driving device supported by the frame 55 and that pinches the adhesive sheet base AB between itself and a pinch roller 56B, and a collection roller 57 that is supported by an output shaft (not shown) of the driving device supported by the frame 55 and that constantly applies a predetermined tension to the unwanted sheet US present between it and the drive roller 56 during automatic operation of the sheet joining device EA1, and that collects the unwanted sheet US. The unwanted sheet US is an adhesive sheet AS of a predetermined shape cut out from the adhesive sheet base AB by cutting means 60. The pressing means 53 includes a linear motor 53A as a driving device supported on a slider 54B of a linear motor 54 via a bracket 54C, and a pressing roller 53C rotatably supported on the output shaft 53B of the linear motor 53A.

[0016] The cutting means 60 includes a cutting blade 61 as a cutting member that can be held by the moving means 30 .

[0017] The transport object support means 80 includes a linear motor 81 as a driving device, and a table 82 supported by an output shaft 81A of the linear motor 81 and having a transport object support surface 82A that can be adsorbed and held by a pressure reduction means (holding mechanism) such as a pressure reduction pump or vacuum ejector (not shown), and a sheet support surface 82B that can support an adhesive sheet substrate AB.

[0018] The storage means SC includes a plurality of shelves SC1 arranged in a vertical direction, and is configured to store a plurality of transport objects WK in multiple stages without the objects coming into contact with each other.

[0019] The operation of the sheet sticking apparatus EA1 equipped with the above-described conveying apparatus EA will be described. First, a user of the sheet application apparatus EA1 (hereinafter simply referred to as "the user") sets an adhesive sheet substrate AB on the sheet application apparatus EA1, in which each component is arranged in the initial position shown in Fig. 1(A), and then inputs a signal to start automatic operation via operation means such as an operation panel (not shown) or a personal computer. Next, the user or a transport means (not shown) such as an articulated robot or a belt conveyor places the storage means SC, which stores the object to be transported WK, in a predetermined position on the support base 70, as shown in Fig. 1(A). Then, the control means 40 drives the articulated robot 31 via the movement means 30, moves the distal end arm 31A to the first detection means holding position HP1, and the distal end arm 31A holds the bracket 11, on which the detection device 12 is supported. Thereafter, the control means 40 drives the articulated robot 31 via the moving means 30, and moves the detection device 12 as shown by the dotted line in Figure 1(A) and Figure 1(B) to position the light-emitting element 12A and the light-receiving element 12B within the storage means SC, and then raises and lowers the detection device 12 to cause the detection device 12 to detect the position of the transport object WK stored in the storage means SC.

[0020] Next, the control means 40 drives the articulated robot 31 via the movement means 30 to return the detection device 12 to its initial position, releases the distal arm 31A from holding the bracket 11, and then moves the distal arm 31A to the holding means holding position HP2 to hold the holding member 21 with the distal arm 31A. The control means 40 then drives the articulated robot 31 via the movement means 30 and drives the pressure reducing means (not shown) via the holding means 20 to move the holding member 21 based on the detection result of the detection device 12, begins holding the transport object WK on the holding surface 21A, and then moves the holding member 21 to transport the transport object WK and place it at a predetermined position on the transport object support surface 82A. Next, the control means 40 stops driving the pressure reducing means (not shown) via the holding means 20, releases the transport object WK from holding on the holding surface 21A, and then drives the articulated robot 31 via the movement means 30 to return the holding member 21 to its initial position. Thereafter, the control means 40 drives the pressure reducing means (not shown) and the linear motor 81 via the transport object support means 80 to start suction and holding of the transport object WK on the transport object support surface 82A, and also raises the table 82 as shown by the two-dot chain line in Fig. 1(A). Next, the control means 40 drives the linear motor 53A and the linear motor 54 via the attachment means 50 to lower the pressure roller 53C to press the adhesive sheet base material AB against the sheet support surface 82B with a predetermined pressure, and then moves the pressure roller 53C to the right as shown by the two-dot chain line in Fig. 1(A), to press and attach the adhesive sheet base material AB to the transport object WK and the sheet support surface 82B. During this time, the control means 40 drives the articulated robot 31 via the moving means 30, releases the holding member 21 from the tip arm 31A, and then moves the tip arm 31A to the cutting means holding position HP3 where the cutting blade 61 is held, thereby holding the cutting blade 61 with the tip arm 31A.

[0021] Then, when the bonding of the adhesive sheet substrate AB to the object to be conveyed WK is completed, the control means 40 drives the articulated robot 31 via the movement means 30, moves the cutting blade 61 to a position where the adhesive sheet substrate AB will be cut, piercing the adhesive sheet substrate AB, and moves the cutting blade 61 along the outer periphery of the object to be conveyed WK, as shown by the two-dot chain line in FIG. 1(A). This forms an adhesive sheet AS having the same shape as the outer periphery of the object to be conveyed WK, and the adhesive sheet AS remains attached to the object to be conveyed WK, with the unnecessary sheet US formed around the outer periphery of the adhesive sheet AS. Next, the control means 40 drives the linear motor 54 and the rotary motor 56A via the bonding means 50, and moves the frame 55 to the right, as shown by the two-dot chain line in FIG. 1(A). The unnecessary sheet US is peeled off from the sheet support surface 82B and collected by the collection roller 57. During this time, the control means 40 drives the articulated robot 31 via the movement means 30, returns the cutting blade 61 to its initial position, releases the holding of the cutting blade 61 by the tip arm 31A, and then holds the holding member 21 by the tip arm 31A.

[0022] Thereafter, when the unnecessary sheets US have been peeled off from the entire sheet support surface 82B, the control means 40 drives the linear motor 81 via the transport object support means 80 to return the table 82 to its initial position, then stops driving the pressure reducing means (not shown), and releases the suction and holding of the transport object WK on the transport object support surface 82A. Next, the control means 40 drives the articulated robot 31 via the movement means 30 and drives the pressure reducing means (not shown) via the holding means 20 to move the holding member 21 over the transport object WK to which the adhesive sheet AS has been attached, and begins holding the transport object WK on the holding surface 21A. After that, the holding member 21 is moved based on the detection result of the detection device 12 to transport the transport object WK and store it in its original position within the storage means SC. Then, the control means 40 drives the linear motor 53A and the linear motor 54 via the joining means 50 to raise the pressure roller 53C, and then drives the linear motor 54 with the driving of the rotary motor 56A stopped, to return the pressure roller 53C and the frame 55 to their initial positions, and pay out the adhesive sheet base material AB onto the conveyed object support means 80. Next, the control means 40 drives the articulated robot 31 via the moving means 30 to return the holding member 21 to its initial position, and releases the holding of the holding member 21 by the distal arm 31A, and thereafter the same operations as those described above are repeated.

[0023] According to the embodiment described above, the moving means 30 has the distal arm 31A that can selectively hold the first detecting means 10 and the holding means 20, so that the device can be prevented from becoming large in size.

[0024] As described above, the best configurations, methods, and the like for implementing the present invention have been disclosed in the above description, but the present invention is not limited thereto. That is, although the present invention has been particularly illustrated and described mainly with reference to specific embodiments, those skilled in the art can make various modifications to the above-described embodiments in terms of shape, material, quantity, and other detailed configurations without departing from the scope of the technical idea and purpose of the present invention. Furthermore, the above-disclosed descriptions limiting the shape, material, and the like are provided as examples to facilitate understanding of the present invention and are not intended to limit the present invention. Therefore, descriptions using names of components that are free from some or all of the limitations on shape, material, and the like are included in the present invention.

[0025] For example, the first detection means 10 may have one of the detection devices 12 being a light-emitting element 12A and the other being a light-receiving element 12B, or the detection device 12 may be composed of a single component, or the detection device 12 may be composed of three or more components, or may detect the position of the transport object WK within the storage means SC from outside the storage means SC. The first detection means 10 may be provided with a plurality of detection devices 12, and may selectively hold one of the plurality of detection devices 12 depending on the size, shape, or type of the transport object WK or the storage means SC to detect the position of the transport object WK. This enables position detection compatible with a wide variety of transport objects WK and storage means SC, improving the versatility of the transport device EA and sheet sticking device EA1 of the present invention.

[0026] The holding means 20 may hold the transport object WK by a gripping means such as a mechanical chuck or a chuck cylinder instead of or in combination with the holding member 21. The holding means 20 may include a plurality of holding members 21, and may selectively hold one of the plurality of holding members 21 depending on the size, shape, or type of the transport object WK or the storage means SC to hold the transport object WK. This makes it possible to hold a wide variety of transport objects WK and storage means SC, improving the versatility of the transport device EA and sheet sticking device EA1 of the present invention.

[0027] The moving means 30 does not necessarily have to be provided so as to be able to selectively hold the cutting means 60 with the distal arm 31A. The moving means 30 may include a plurality of moving devices, and may selectively use one of the plurality of moving devices to hold the detecting device 12, the holding member 21, or the cutting blade 61 depending on the size, shape, or type of the detecting device 12, the holding member 21, or the cutting blade 61. This allows for transport compatible with a wide variety of detecting devices 12, holding members 21, or cutting blades 61, thereby improving the versatility of the transport device EA and the sheet sticking device EA1 of the present invention.

[0028] The sticking means 50 may pay out a raw web having an adhesive sheet base material AB temporarily attached to a strip-shaped release sheet, and peel the adhesive sheet base material AB from the release sheet using a peeling member such as a peeling plate or peeling roller, and stick it to the object to be conveyed WK, or pay out a raw web having an adhesive sheet AS temporarily attached to a strip-shaped release sheet, and peel the adhesive sheet AS from the release sheet using a peeling member such as a peeling plate or peeling roller, and stick it to the object to be conveyed WK, or pay out an adhesive sheet AS that is not temporarily attached to a release sheet, and stick it to the object to be conveyed WK, or use a plate-like member, shaft member, etc. instead of rollers such as the support roller 51 and guide roller 52 to stick the adhesive sheet The substrate AB or the unnecessary sheet US may be supported or guided, or the adhesive sheet substrate AB may be supported by folding it, for example, in a fanfold, without being rolled up, or a recovery means may be employed to recover the unnecessary sheets US by folding it, for example, in a fanfold, without being rolled up, or by shredding it with a shredder or by piling it up randomly, or no recovery means may be employed, or the adhesive sheet substrate AB may be affixed to the underside or side of the object to be transported WK by being placed upside down or horizontally, and may or may not be provided in the transport device EA of the present invention.

[0029] The cutting means 60 may form an adhesive sheet AS having a shape that is the same as or different from the outer edge shape of the object to be transported WK, or may form an adhesive sheet AS that is smaller or larger than the outer edge shape of the object to be transported WK.In the case where the attaching means 50 unrolls a roll of paper on which the adhesive sheet base material AB is temporarily attached to a strip-shaped release sheet and peels the adhesive sheet base material AB from the release sheet using a peeling member such as a peeling plate or peeling roller to attach it to the object to be transported WK, the cutting means 60 may cut the adhesive sheet base material AB before attaching it to the object to be transported WK, or may cut the adhesive sheet base material AB after attaching it to the object to be transported WK, or may cut the object to be transported WK.The cutting blade 61 does not have to be capable of being held by the distal arm 31A. In this case, the cutting blade 61 can be held by another driving device and the cutting blade 61 can be moved to cut the adhesive sheet base material AB.This may or may not be provided in the conveying apparatus EA of the present invention. The cutting means 60 may be provided with a plurality of cutting blades 61, and may selectively hold one of the plurality of cutting blades 61 to cut the adhesive sheet substrate AB or the object to be conveyed WK depending on the size, shape, or type of the adhesive sheet substrate AB or the object to be conveyed WK. This allows cutting that corresponds to a wide variety of adhesive sheet substrates AB and objects to be conveyed WK, thereby improving the versatility of the conveying apparatus EA and sheet sticking apparatus EA1 of the present invention.

[0030] The storage means SC may be one or more, there may be no shelf SC1, it may be configured to store multiple transport objects WK in a tiered manner by abutting them against each other, it may store multiple transport objects WK in a vertical position instead of storing multiple transport objects WK horizontally as in the embodiment, it may store one or multiple transport objects WK, and it may or may not be provided in the conveying device EA or sheet application device EA1 of the present invention.

[0031] The support means may be configured so that the support stand 70 supporting the storage means SC can be moved by a driving device or casters, or may be configured to support multiple storage means SC, and may or may not be provided in the conveying device EA or sheet application device EA1 of the present invention.

[0032] The transport object support means 80 may not be capable of adsorbing and holding the transport object on the transport object support surface 82A, or may or may not be capable of adsorbing and holding the sheet support surface 82B, and may or may not be provided in the transport device EA or sheet application device EA1 of the present invention.

[0033] As shown in Figure 1(C), the conveying device EA is equipped with a second detection means 90 that detects the position of the object to be conveyed WK stored in the storage means SC without being moved by the moving means 30, and the control means 40 may move the holding means 20 via the moving means 30 based on the detection results of the first detection means 10 or the second detection means 90 to hold and convey the object to be conveyed WK. The second detection means 90 includes a linear motor 91 as a driving device supported by the support base 70, a linear motor 92 as a driving device supported by an output shaft 91A of the linear motor 91, and a detection device 93 supported by the output shaft 92A of the linear motor 92 and including imaging means such as a camera or a projector and various sensors such as an optical sensor or an ultrasonic sensor, and the control means 40 drives the linear motors 91 and 92 via the second detection means 90 to move the detection device 93 as shown by the two-dot chain line in Fig. 1(C), thereby detecting the position of the transport object WK stored in the storage means SC. In this case, the first detection means 10 or the second detection means 90 can be selected depending on, for example, the size, shape, or type of the transport object WK.

[0034] The means and steps of the present invention are not limited in any way as long as they can perform the operations, functions, or steps described for those means and steps, and are in no way limited to the components and steps of a single embodiment shown in the above embodiment. For example, the holding means may be any means that holds the object to be transported, and is not limited in any way as long as it is within the technical scope in light of the common general technical knowledge at the time of filing (the same applies to other means and steps).

[0035] The materials, types, shapes, etc. of the adhesive sheet substrate AB, adhesive sheet AS, and transport object WK are not particularly limited. For example, the adhesive sheet substrate AB, adhesive sheet AS, and transport object WK may be circular, elliptical, polygonal (e.g., triangular, rectangular), or other shapes. The adhesive sheet substrate AB may be pressure-sensitive, heat-sensitive, or other adhesive. If a heat-sensitive adhesive is used, the adhesive sheet substrate AB may be bonded by an appropriate method, such as providing a heating means such as a coil heater or heat pipe. Furthermore, the adhesive sheet substrate AB may be, for example, a single-layer adhesive layer, one with an intermediate layer between the substrate and the adhesive layer, or one with three or more layers, such as one with a cover layer on the top surface of the substrate. It may also be a so-called double-sided adhesive sheet in which the substrate can be peeled from the adhesive layer. The double-sided adhesive sheet may be a single-layer or multi-layer adhesive sheet with a single or multi-layer intermediate layer, or a single or multi-layer adhesive sheet without an intermediate layer. The transport object WK may be, for example, a single object such as food, a resin container, a semiconductor wafer such as a silicon semiconductor wafer or a compound semiconductor wafer, a circuit board, an information recording substrate such as an optical disk, a glass plate, a steel plate, a ceramic plate, a wooden board, or a resin, or may be a composite formed from two or more of these, and may also be a member or article of any shape. The adhesive sheet substrate AB may be interpreted in terms of its function or use, and may also be any sheet, film, tape, etc., such as an information label, a decorative label, a protective sheet, a dicing tape, a die attach film, a die bonding tape, or a recording layer-forming resin sheet.

[0036] The driving device in the above-described embodiments may be an electric device such as a rotary motor, a linear motor, a single-axis robot, or an articulated robot with two or more joints, or an actuator such as an air cylinder, a hydraulic cylinder, a rodless cylinder, or a rotary cylinder, or may be a direct or indirect combination of these. In the above-described embodiments, when a rotating member such as a roller is used, a driving device for rotating the rotating member may be provided, or the surface of the rotating member or the rotating member itself may be made of a deformable member such as rubber or resin, or the surface of the rotating member or the rotating member itself may be made of a non-deformable member, or other members such as a rotating or non-rotating shaft or blade may be used instead of the roller, or when a pressing means or pressing member such as a pressure roller or a pressure head that presses the object to be pressed is used, a roller, a round bar, a blade material, a brush-like member, or a member that sprays air or gas may be used instead of or in combination with the above-described examples, or the pressing means may be made of a deformable member such as rubber, resin, sponge, or may be made of a non-deformable member such as metal or resin, or when a peeling means or peeling member such as a peeling plate or peeling roller that peels the object to be peeled is used, a roller, a round bar, a blade material, a brush-like member, or a member that sprays air or gas may be used instead of or in combination with the above-described examples, or Materials such as plate-like materials, round rods, rollers, etc. may be used, and the peeling element may be made of a deformable material such as rubber or resin, or may be made of a non-deformable material. When a supporting (holding) means, supporting (holding) mechanism, supporting (holding) member, etc. that supports (holds) the supported member (held member) is used, a configuration in which the supported member is supported (held) may be used, using a gripping means such as a mechanical chuck or chuck cylinder, Coulomb force, adhesive (adhesive sheet, adhesive tape), pressure-sensitive adhesive (adhesive sheet, adhesive tape), magnetic force, Bernoulli adsorption, suction adsorption, driving equipment, etc. When a cutting means or cutting member that cuts the member to be cut or forms an incision or cutting line in the member to be cut is used, cutting elements such as a cutter blade, laser cutter, ion beam, fire, heat, water pressure, an electric heating wire, or spraying of gas or liquid may be used instead of or in combination with the above examples, or a combination of appropriate driving equipment may be used to move the cutting element. [Explanation of symbols]

[0037] EA...Transportation equipment EA1...Sheet application device 10...First detection means 20...Holding means 30...Transportation 31A...Tip arm (holding part) 40...Control means 50...Attachment means 60...Cutting means 90...Second detection means AB...Adhesive sheet base material HP1: First detection means holding position HP2…Holding means holding position HP3…Cutting means holding position WK: Transported object SC…Containment means

Claims

1. A conveying device that conveys an object to be conveyed, a first detection means for detecting a position of the object to be conveyed accommodated in a accommodating means capable of accommodating the object to be conveyed; holding means for holding the object to be transported; a moving means having a holding portion capable of selectively holding the first detecting means and the holding means, and capable of moving the first detecting means or the holding means held by the holding portion; a second detection means for detecting the position of the object to be transported that is accommodated in the accommodation means without being moved by the moving means; a control means for controlling the operation of each member constituting the conveying device; The control means controls each component of the conveying device to move the holding unit, via the moving means, to a first detection means holding position that holds the first detection means and holds the first detection means, then move the first detection means to detect the position of the object to be transported, or to cause the second detection means to detect the position of the object to be transported, and to move the holding unit, via the moving means, to a holding means holding position that holds the holding means and holds the holding means, and then move the holding means based on the detection result of the first detection means or the second detection means to hold and transport the object to be transported.

2. A conveying device as described in Claim 1, characterized in that the control means selects the first detection means or the second detection means depending on the size, shape or type of the object to be conveyed.

3. A sheet sticking device that sticks an adhesive sheet to an object to be conveyed, The conveying device according to claim 1 or 2; a sticking means for sticking an adhesive sheet substrate to the object to be conveyed; a cutting means for cutting the adhesive sheet base material into a predetermined shape to form the adhesive sheet, the moving means is provided so as to be able to selectively hold the cutting means with the holding portion, The control means moves the holding unit to a cutting means holding position that holds the cutting means via the moving means, and holds the cutting means, and then moves the cutting means to form the adhesive sheet.

4. A conveying method for conveying an object to be conveyed, comprising: a first detection step of detecting, by a first detection means, the position of the object to be conveyed accommodated in a accommodating means capable of accommodating the object to be conveyed; a holding step of holding the object to be transported by a holding means; a moving step of moving the first detection means or the holding means held by a holding part using a moving means having a holding part that can selectively hold the first detection means or the holding means; a step of detecting a position of the object to be transported stored in the storage means by a second detection means that is not moved by the moving means; A control step of controlling the operation of each member that performs the conveying method is carried out; The control step involves moving the holding unit via the moving means to a first detection means holding position that holds the first detection means to hold the first detection means, and then moving the first detection means to perform the first detection step or a step of having the second detection means detect the position of the object to be transported, and moving the holding unit via the moving means to a holding means holding position that holds the holding means to hold the holding means, and then moving the holding means based on the detection result of the first detection step or the detection step by the second detection means to perform the holding step, and controlling each component to hold and transport the object to be transported.

5. A sheet attachment method for attaching an adhesive sheet to an object to be transported, comprising: The conveying method according to claim 4; a sticking step of sticking an adhesive sheet base material to the object to be transported; a cutting step of cutting the adhesive sheet substrate into a predetermined shape using a cutting means to form the adhesive sheet; the moving means is provided so as to be able to selectively hold the cutting means with the holding portion, A sheet applying method characterized in that in the control process, the holding unit is moved via the moving means to a cutting means holding position that holds the cutting means, and the cutting means is then held, and the cutting process is then carried out.

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