CN112384458A

CN112384458A - Conveying device

Info

Publication number: CN112384458A
Application number: CN201980045210.3A
Authority: CN
Inventors: 伊砂隆志; 桥本和也
Original assignee: Nidec Read Corp
Current assignee: Nidec Advance Technology Corp
Priority date: 2018-07-05
Filing date: 2019-05-21
Publication date: 2021-02-19
Also published as: KR20210029786A; WO2020008744A1; JPWO2020008744A1

Abstract

A conveying device for conveying a plate-shaped workpiece comprises: a first suction part having a bottom surface abutting against the workpiece and capable of sucking the workpiece; and a first section and a second section, a bottom surface of which can abut against the workpiece and a side surface of which is adjacent to the first suction section, wherein the workpiece is sucked by the bottom surface of the first suction section, the bottom surface of the first section and the bottom surface of the second section abut against the workpiece, and the bottom surface of the first suction section is positioned closer to a first direction side in which the workpiece is sucked than the bottom surface of the first section and the bottom surface of the second section, thereby flexing the workpiece.

Description

Conveying device

Technical Field

The present invention relates to a conveying device for conveying a workpiece.

Background

Conventionally, there is known a conveying apparatus that conveys a plate-like workpiece stacked on a panel component or the like by sucking the workpiece by a suction nozzle and sequentially gripping the workpiece from above. In such a conveying device, it is necessary to separate and convey the workpieces one by one so as not to convey a plurality of workpieces. Therefore, there is known a technique for easily separating a first workpiece from a second workpiece and subsequent workpieces when the workpieces are conveyed by a conveying device.

Patent document 1 describes the following technique: two suction pads are sucked on the backing paper overlapped on the upper surface of the uppermost panel, and the suction pads are brought close to the inner side of the backing paper to bend the backing paper, thereby releasing the close contact state between the backing paper and the uppermost panel.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open No. 2009-

Disclosure of Invention

In patent document 1, after the work is sufficiently sucked by the two suction pads, the work is separated from each other by bringing the suction pads close to each other. In this case, since a plurality of steps of suction and approach are performed, there is room for improvement in the step of gripping the workpiece.

The invention aims to provide a conveying device which can separate plate-shaped workpieces from each other more easily.

A conveying apparatus according to an example of the present invention is a conveying apparatus for conveying a plate-like workpiece, including: a first suction part having a bottom surface abutting against the workpiece and capable of sucking the workpiece; and a first section and a second section, a bottom surface of which can abut against the workpiece and a side surface of which is adjacent to the first suction section, and a bottom surface of which sucks the workpiece, wherein the bottom surface of the first section and the bottom surface of the second section abut against the workpiece, and the bottom surface of the first suction section is positioned closer to a first direction side where the workpiece is sucked than the bottom surface of the first section and the bottom surface of the second section, thereby flexing the workpiece.

In addition, the conveying device of an example of the present invention is a conveying device for conveying a plate-shaped workpiece,

the method comprises the following steps: a first portion having a bottom surface capable of abutting against the workpiece; and a first suction portion and a second suction portion having bottom surfaces abutting on the workpiece and capable of sucking the workpiece, side surfaces adjacent to the first portion, and bottom surfaces of the first suction portion and the second suction portion sucking the workpiece, wherein the bottom surface of the first portion abuts on the workpiece, and the bottom surfaces of the first suction portion and the second suction portion are positioned closer to a first direction side where the workpiece is sucked than the bottom surface of the first portion, thereby flexing the workpiece.

Drawings

Fig. 1 is a front view showing the entire conveying device according to the first embodiment.

FIG. 2 is an enlarged front view showing the conveyance device before the work is sucked.

FIG. 3 is an enlarged front view showing a conveying device at the time of work suction.

FIG. 4 is an enlarged front view showing the conveying device when the work is lifted.

FIG. 5 is an enlarged front view showing a conveying device when conveying a workpiece.

Fig. 6A to 6C are plan views showing first to third modifications of the arrangement of the first suction portion and the first and second portions.

Fig. 7 is a plan view showing a fourth modification and a fifth modification of the arrangement of the first suction portion, the first portion, and the second portion, in fig. 7A and 7B.

Fig. 8A to 8D are plan views showing sixth to ninth modifications of the arrangement of the first suction portion and the first and second portions.

Fig. 9 is an enlarged front view showing a work sucking operation in the conveying device according to the second embodiment.

Fig. 10A to 10C are plan views showing tenth to twelfth modifications of the arrangement of the first suction portion, the second suction portion, and the first portion.

Fig. 11A and 11B are plan views showing a thirteenth modification and a fourteenth modification of the arrangement of the first suction portion, the second suction portion, and the first portion.

Fig. 12A to 12C are plan views showing fifteenth to seventeenth modifications of the arrangement of the first suction portion, the second suction portion, and the first portion.

Fig. 13 is an overall front view showing a conveyance device according to a third embodiment.

Fig. 14 is a view along the line a-a in fig. 13.

Fig. 15 is an enlarged front view showing a work sucking operation in the conveying device according to the third embodiment.

Detailed Description

< first embodiment >

First, a conveying device 1 according to a first embodiment of the present invention will be described with reference to fig. 1 to 5. In the present specification, the direction of the conveying device 1 is defined by an arrow shown in fig. 1. The conveying device 1 of the present embodiment is a device for sucking and holding a horizontally stacked plate-like workpiece W from a stack WL of workpieces W from above and conveying the workpiece W. In the present embodiment, the work W positioned at the uppermost portion of the stacked body WL is referred to as "first work W1", and the work W positioned directly below (second from the top) the first work W1 is referred to as "second work W2" (see fig. 2).

As shown in fig. 1, the conveying device 1 includes a first section 31 and a second section 32, and the first section 31 includes: the conveyance guide 11, the conveyance mechanism 12, the lifting guide 13, the lifting mechanism 14, the air suction pipe 15, the suction nozzle 16 as the first suction unit of the present invention, the air suction mechanism 17, the air suction hose 18, the first pressing member 31a, and the first contact portion 31b, and the second portion 32 includes the second pressing member 32a and the second contact portion 31 b. In the conveying device 1 of the present embodiment, each component is driven and controlled by a control unit, not shown. As a method of attracting the workpiece W in the first attracting portion, a configuration may be adopted in which the workpiece W is attracted to the first attracting portion using an electrostatic chuck or an electromagnetic chuck.

The conveying mechanism 12 is a mechanism (conveying unit) for conveying the workpiece W by displacing the suction unit in the horizontal direction (the direction of arrow H shown in fig. 1). The conveyance mechanism 12 is configured to be movable along a conveyance guide 11 erected in the horizontal direction. A lifting guide 13 is suspended downward from the conveyance mechanism 12, and a lifting mechanism 14 is provided on the lifting guide 13. The lifting mechanism 14 is configured to be capable of lifting in the vertical direction (the arrow V direction shown in fig. 1) along the lifting guide 13.

An air suction pipe 15 is hung downward from a substantially central portion in the left-right direction of the lower surface of the elevating mechanism 14, and an adsorption nozzle 16 is provided at the lower end portion of the air suction pipe 15. The suction pipe 15 is connected to a suction mechanism 17 via a suction hose 18. The suction mechanism 17 includes a vacuum pump and a valve, not shown, and the control unit drives the suction mechanism 17 to suck air from the suction nozzle 16 through the suction hose 18 and the suction pipe 15, so that the suction nozzle 16 sucks the workpiece W. In the present embodiment, the adsorption nozzle 16 is formed of an elastic material that can expand and contract in the vertical direction. The suction nozzle 16 is configured to contract and elastically deform when the suction portion sucks the workpiece W (see fig. 3).

First and second substantially rod-shaped

portions

31 and 32 are hung from the lower surface of the elevating mechanism 14 to both the left and right sides of the air intake pipe 15. In other words, the suction duct 15 is disposed between the first portion 31 and the second portion 32. The first portion 31 includes a rod-shaped first pressing member 31a and a first contact portion 31b provided at a lower end of the first pressing member 31 a. Similarly, the second portion 32 includes a rod-shaped second pressing member 32a and a second contact portion 32b provided at a lower end of the second pressing member 32 a. The side surfaces of the first portion 31 and the second portion 32 are disposed adjacent to the adsorption nozzle 16. Further, bottom surfaces of the first portion 31 and the second portion 32 (bottom surfaces of the first abutting portion 31b and the second abutting portion 32 b) abut against the workpiece W when the workpiece W is suctioned by the suction nozzle 16. The first contact portion 31b and the second contact portion 32b are formed of an elastically deformable material such as a foamed resin (see fig. 3). As shown in fig. 3, the first contact portion 31b and the second contact portion 32b apply a pressing force to the workpiece W when the workpiece W is sucked by the suction nozzle 16. Further, the following configuration may be adopted: the lower ends of the first contact portion 31b and the second contact portion 32b are formed in a shape having a width in the front-rear direction, and the first contact portion 31b and the second contact portion 32b are linearly contacted with the workpiece W in the front-rear direction. The first portion 31 and the second portion 32 may be constituted by only the first pressing member 31a and the second pressing member 32a excluding the first contact portion 31b and the second contact portion 32 b.

In the conveying device 1, the controller drives the conveying mechanism 12 and the elevating mechanism 14, and thereby the suction nozzle 16 and the workpiece W sucked by the suction nozzle 16 can be displaced in the vertical direction and the horizontal direction. The configuration of the suction conveying unit is not limited to the present embodiment, and may be another configuration. For example, the following configuration may be adopted: the suction nozzle 16 is attached to the tip of a robot arm having a plurality of joints, and the suction nozzle 16 and the workpiece W are displaced by driving the robot arm.

As shown in fig. 1, a housing case Cw for housing a stack WL in which a plurality of works W are stacked is placed on the floor surface F below the suction nozzle 16. In the present embodiment, the central portion C of the workpiece W in the stacked body WL in a plan view is disposed directly below the suction nozzle 16. In other words, the workpiece W is arranged such that the suction portion V sucked by the suction nozzle 16 overlaps the central portion C of the workpiece W. Further, a connection terminal T is disposed at the right end of the workpiece W.

Next, a procedure of conveying the workpiece W by the conveying device 1 of the present embodiment will be described with reference to fig. 2 to 5. First, the lift mechanism 14 is driven to lower the suction pipe 15 and the suction nozzle 16 as shown by an arrow Vd in fig. 2, and the bottom surface of the suction nozzle 16 is brought into contact with the first workpiece W1 in the stack WL. In this embodiment, at this time, the bottom surface of the suction nozzle 16 is positioned in the second direction (lower direction) than the bottom surfaces of the first contact portion 31b and the second contact portion 32b, so that the bottom surface of the suction nozzle 16 comes into contact with the workpiece W before the bottom surfaces of the first contact portion 31b and the second contact portion 32b, and suction of the workpiece W by the suction nozzle 16 is facilitated. Further, a drive mechanism may be provided to the adsorption nozzle 16 to independently move the adsorption nozzle 16 up and down. Further, the following configuration may be adopted: when the suction pipe 15 and the suction nozzle 16 are lowered, the bottom surface of the suction nozzle 16 is arranged at the same height as the bottom surfaces of the first abutting portion 31b and the second abutting portion 32 b. As shown in fig. 2, when the suction nozzle 16 abuts on the first workpiece W1, the first abutting portion 31b and the second abutting portion 32b of the first portion 31 and the second portion 32 are spaced apart from the first workpiece W1 by a small distance.

Next, the suction mechanism 17 is driven to suck the first workpiece W1 by the suction nozzle 16 as indicated by a broken line arrow a1 in fig. 3. The suction of the first workpiece W1 by the bottom surface of the suction nozzle 16 is continued until the conveyance of the first workpiece W1 by the conveyance device 1 is completed.

When the suction nozzle 16 sucks the first workpiece W1, the suction nozzle 16 contracts and elastically deforms as shown in fig. 3 because the inside of the suction nozzle 16 becomes a negative pressure. Therefore, the suction portion of the first workpiece W1 on the bottom surface of the suction nozzle 16 after the elastic deformation is positioned in the first direction (upward) of suction with respect to the bottom surfaces of the first contact portion 31b and the second contact portion 32 b. The first contact portion 31b and the second contact portion 32b contact the first workpiece W1, and apply a downward pressing force to the first workpiece W1.

As described above, the portion of the first workpiece W1 between the first portion 31 and the second portion 32 is sucked upward by the bottom surface of the suction nozzle 16, and both the left and right end portions are pressed downward by the bottom surfaces of the first contact portion 31b and the second contact portion 32 b. As a result, as shown in fig. 3, the first workpiece W1 is deflected such that the portion between the first portion 31 and the second portion 32 has a convex shape toward the upper side. That is, the suction nozzle 16 bends and grips the first workpiece W1 when the bottom surface is positioned above the bottom surfaces of the first contact portion 31b and the second contact portion 32 b. Even when the first workpiece W1 and the second workpiece W2 are in close contact with each other, air enters between the first workpiece W1 and the second workpiece W2 due to the deflection generated in the first workpiece W1, and therefore the first workpiece W1 and the second workpiece W2 are separated from each other. Therefore, the second workpiece W2 separates from the first workpiece W1 and stays inside the housing case Cw as shown in fig. 3.

As described above, although the configuration in which the suction nozzle 16 is elastically deformed and the first workpiece W1 is easily deflected is adopted in the present embodiment, a configuration different from the present embodiment may be adopted. For example, the suction nozzle 16 may be configured not to be deformed (or the amount of deformation is small), and the suction pipe 15 may be configured to be displaced relative to the first portion 31 and the second portion 32 in the vertical direction.

In this configuration, in a state where the suction nozzle 16 sucks the first workpiece W1, the suction portion of the first workpiece W1 at the tip of the suction nozzle 16 is displaced upward relative to the first contact portion 31b and the second contact portion 32b (the suction pipe 15 is raised, or the first portion 31 and the second portion 32 are lowered). Thus, the first contact portion 31b and the second contact portion 32b are brought into contact with the first workpiece W1, and a pressing force can be applied downward to the first workpiece W1. In the present configuration, a drive mechanism is provided for vertically displacing the adsorption nozzle 16 and either the first portion 31 or the second portion 32.

Next, the lift mechanism 14 is driven to raise the suction pipe 15 and the suction nozzle 16 as indicated by an arrow Vu in fig. 4, thereby lifting up the first workpiece W1. In fig. 4, the first workpiece W1 is lifted in a flexed state. In this state, the second work W2 has been separated from the first work W1, and therefore the flexure in the first work W1 can also be released. That is, the following configuration may be adopted: after the first workpiece W1 is raised, the suction force to the suction nozzle 16 by the suction mechanism 17 is relaxed to such an extent that the first workpiece W1 does not fall, and the deflection of the first workpiece W1 is eliminated. Further, the following configuration may be adopted: before the suction pipe 15 and the suction nozzle 16 are raised, the suction force of the suction nozzle 16 is relaxed (the time when the first workpiece W1 is deflected is assumed to be instantaneous).

Next, the conveyance mechanism 12 is driven to horizontally displace the suction pipe 15 and the suction nozzle 16 as shown by an arrow Hr in fig. 5, thereby conveying the first workpiece W1. Then, the next workpiece W is conveyed by the suction pipe 15 and the suction nozzle 16 returned to the original positions (see fig. 1) by the conveyance mechanism 12.

As described above, the conveying device 1 of the present embodiment has the following configuration: when the suction nozzle 16 sucks the first workpiece W1, the first contact portion 31b and the second contact portion 32b contact the first workpiece W1, and downward pressing force is applied to the first workpiece W1. Thus, the first workpiece W1 is flexed and gripped substantially simultaneously with the suction of the first workpiece W1 by the suction portion, and the second workpiece W2 can be separated from the first workpiece W1. That is, the suction of the first workpiece W1 and the separation of the first workpiece W1 and the second workpiece W2 can be easily performed.

In the conveying device 1 of the present embodiment, the tip portion of the suction nozzle 16 is contracted and elastically deformed. Thus, the suction portion of the first workpiece W1 can be displaced upward from the first contact portion 31b and the second contact portion 32b without providing a drive mechanism for relatively displacing the suction nozzle 16, the first portion 31, and the second portion 32. That is, in the conveying device 1, the first workpiece W1 and the second workpiece W2 can be separated from each other with a simple configuration.

Next, the arrangement structure of the suction nozzle 16 as the first suction part, and the first contact part 31b and the second contact part 32b as the first part and the second part will be described with reference to fig. 6 to 9. Each of fig. 6 to 9 shows a bottom view (a state viewed from below) of the adsorption nozzle 16.

In the conveying device 1 of the present embodiment, as long as the first contact portion 31b and the second contact portion 32b are in contact with the workpiece W when the workpiece W is sucked by the suction nozzle 16, and at a position where the workpiece W can be flexed and gripped, the suction nozzle 16, the first contact portion 31b, and the second contact portion 32b may be arranged so as to be located at the apex of the triangle, as shown in the first modification in fig. 6A. As shown in the second modification of fig. 6B, in the configuration of fig. 6A, the suction nozzle 16 may be a rectangular suction nozzle 16 s. As shown in a third modification example in fig. 6C, the structure of fig. 6A may be configured as follows: the other contact portion 33b is provided on the opposite side of the first contact portion 31b and the second contact portion 32b with the suction nozzle 16 interposed therebetween.

As shown in a fourth modification of fig. 7A, the suction nozzle 16, the first contact portion 31b, and the second contact portion 32b may be arranged in a substantially linear shape in the order of the first contact portion 31b, the suction nozzle 16, and the second contact portion 32 b. As shown in a fifth modification of fig. 7B, in the configuration of fig. 7A, the suction nozzle 16 may be a rectangular suction nozzle 16 s. In this way, since the first contact portion 31b, the suction nozzle 16, and the second contact portion 32b are arranged in a substantially linear manner in this order, the first contact portion 31b and the second contact portion 32b are arranged to substantially sandwich the suction nozzle 16 in a bottom view, and the workpiece W is easily bent, the first workpiece W1 can be easily separated from the second workpiece W2.

As shown in a sixth modification of fig. 8A, the suction nozzle 16 may be disposed between the first contact portion 31b and the second contact portion 32 b. As shown in a seventh modification example in fig. 8B, in the configuration of fig. 8A, the suction nozzle 16 may be a rectangular suction nozzle 16 s. As shown in an eighth modification example in fig. 8C, the configuration in fig. 8A may be configured as follows: the first contact portion 31b is formed as a first contact portion 31s bent into an L shape, the second contact portion 32b is formed as a second contact portion 32s rectangular in shape, and the suction nozzle 16 is surrounded by the first contact portion 31s and the second contact portion 32 s. In this case, the first portion 31 and the second portion 32 may also be integrally formed. As described above, by disposing the suction nozzle 16 between the first contact portion 31b and the second contact portion 32b, the first contact portion 31b and the second contact portion 32b are disposed so as to sandwich the suction nozzle 16 in a bottom view, and the workpiece W is more easily bent, so that the first workpiece W1 can be more easily separated from the second workpiece W2.

In addition, as shown in a ninth modification in fig. 8D, in the structure of fig. 8A, the first contact portion 31b may be formed to abut against the rib 31 r. This makes it possible to enlarge the contact surface between the abutment rib 31r and the workpiece W, and to easily deflect the workpiece W, so that the first workpiece W1 can be easily separated from the second workpiece W2.

< second embodiment >

Next, a conveying device according to a second embodiment will be described with reference to fig. 9. In the present embodiment, the same configurations as those of the conveying device 1 of the first embodiment will be omitted from detailed description, and the different configurations will be mainly described.

As shown in fig. 9, in the present embodiment, the relationship between the suction portion and the contact portion is reversed with respect to the conveyance device 1 of the first embodiment. Namely, the following structure is adopted: two

suction pipes

115a and 115b are provided as suction parts, and at their lower ends,

suction nozzles

116a and 116b are provided as a first suction part and a second suction part, respectively. Further, a columnar first portion 131 is provided between the

suction pipes

115a and 115 b. The first portion 131 includes a rod-shaped pressing member 131a and an abutting portion 131b provided at a lower end portion of the pressing member 131 a. As shown in fig. 9, the side surfaces of the first suction portion 116a and the second suction portion 116b are disposed at positions adjacent to the first portion 131. The bottom surface of the first portion 131 (the bottom surface of the contact portion 131 b) contacts the workpiece W when the workpiece W is sucked by the first suction portion 116a and the second suction portion 116 b. Further, the following configuration may be adopted: the contact portion 131b is in linear contact with the workpiece W along the front-rear direction or in planar contact with the workpiece W extending in the front-rear direction and the left-right direction.

In the present embodiment, when the suction nozzle 116a and the suction nozzle 116b suck the first workpiece W1 as indicated by broken line arrows a21 and a22 in fig. 9, the tip portions of the suction nozzle 116a and the suction nozzle 116b contract and elastically deform. Therefore, the suction portions of the first workpieces W1 at the distal ends of the

suction nozzles

116a and 116b are displaced upward from the contact portions 131b after the elastic deformation. The contact portion 131b applies a downward pressing force to the first workpiece W1.

As described above, in the present embodiment, both the left and right end portions of the first workpiece W1 are sucked upward by the

suction nozzles

116a and 116b, and the portion between the first suction portion 116a and the second suction portion 116b is pressed downward by the contact portion 131 b. As a result, as shown in fig. 9, a portion between the first suction portion 116a and the second suction portion 116b is deflected in a convex shape toward the lower side in the first workpiece W1. That is, the

suction nozzles

116a and 116b are positioned such that the bottom surfaces thereof are located above the bottom surface of the contact portion 131b, and the first workpiece W1 is bent and gripped. Even when the first workpiece W1 and the second workpiece W2 are in close contact with each other, air enters between the first workpiece W1 and the second workpiece W2 due to the deflection generated in the first workpiece W1, and therefore the first workpiece W1 and the second workpiece W2 are separated from each other. Therefore, the second workpiece W2 separates from the first workpiece W1 and stays inside the housing case Cw as shown in fig. 9.

As described above, the conveying device according to the present embodiment has the following configuration: when the suction nozzle 116a and the suction nozzle 116b suck the first workpiece W1, the contact portion 131b contacts the first workpiece W1, and applies a downward pressing force to the first workpiece W1. Thus, the first workpiece W1 is flexed and gripped substantially simultaneously with the suction of the first workpiece W1 by the suction portion, and the second workpiece W2 can be separated from the first workpiece W1. That is, the suction of the first workpiece W1 and the separation of the first workpiece W1 and the second workpiece W2 can be easily performed.

Next, the arrangement structure of the

suction nozzles

116a and 116b as the first and second suction portions and the contact portion 131b as the first portion will be described with reference to fig. 10 to 12. Each of fig. 10 to 12 shows a bottom view (a state viewed from below) of the adsorption nozzle 116 a.

In the conveying device 1 of the present embodiment, as long as the workpiece W is at a position where the contact portion 131b comes into contact with the workpiece W and the workpiece W can be flexed and held when the workpiece W is sucked by the suction nozzle 116a and the suction nozzle 116b, the suction nozzle 116a, the suction nozzle 116b, and the contact portion 131b may be arranged so as to be located at the apex of a triangle, as shown in a tenth modification in fig. 10A. As shown in an eleventh modification example in fig. 10B, in the configuration of fig. 10A, the contact portion 131B may be a rectangular contact portion 131 s. As shown in the twelfth modification in fig. 10C, the structure in fig. 10A may be configured as follows: the other suction portion 116c is provided on the opposite side of the suction nozzle 116a and the suction nozzle 116b with the contact portion 131b interposed therebetween.

As shown in the thirteenth modification of fig. 11A, the suction nozzle 16, the suction nozzle 116a, the suction nozzle 116b, and the contact portion 131b may be arranged in a substantially linear shape in the order of the suction nozzle 116a, the contact portion 131b, and the suction nozzle 116 b. As shown in a fourteenth modification of fig. 11B, in the configuration of fig. 11A, the contact portion 131B may be a rectangular contact portion 131 s. Since the suction nozzle 116a, the contact portion 131b, and the suction nozzle 116b are arranged in this order in a substantially linear shape, the suction nozzle 116a and the suction nozzle 116b are arranged to substantially sandwich the contact portion 131b in a bottom view, and the workpiece W is easily deflected, the first workpiece W1 can be easily separated from the second workpiece W2.

As shown in a fifteenth modification example in fig. 12A, the contact portion 131b may be disposed between the suction nozzle 116a and the suction nozzle 116 b. As shown in a sixteenth modification of fig. 12B, in the configuration of fig. 12A, the contact portion 131B may be a rectangular contact portion 131 s. As shown in a seventeenth modification of fig. 12C, in the configuration of fig. 12A, the adsorption nozzle 116a and the adsorption nozzle 116b may be formed as an adsorption nozzle 116s or an adsorption nozzle 116s having a rectangular shape. As described above, by disposing the contact portion 131b between the suction nozzle 116a and the suction nozzle 116b, the suction nozzle 116a and the suction nozzle 116b are disposed so as to sandwich the contact portion 131b in a bottom view, and the workpiece W is more easily bent, so that the first workpiece W1 can be more easily separated from the second workpiece W2.

< third embodiment >

Next, a conveying device 201 according to a third embodiment will be described with reference to fig. 13 to 15. The conveying device 201 of the present embodiment is the same as the conveying device 1 of the first embodiment except for the configurations of the first and

second sections

231 and 232, and therefore the configurations of the first and

second sections

231 and 232 will be mainly described.

A pressing member 230 formed in a U shape in a horizontal cross-sectional view is provided on the lower surface of the elevating mechanism 14 in the conveying device 201 so as to surround the side and the rear of the air intake duct 15. As shown in fig. 13 and 14, the pressing member 230 has a box shape with an opening 230a formed in the front surface. That is, the suction pipe 15 and the suction nozzle 16 are housed inside the opening 230a of the pressing member 230. The pressing member 230 is fixed to the lifting mechanism 14 by inserting bolts B and B into fixing holes 230B and 230B opened in the bottom surface.

As shown in fig. 13 and 14, rib-shaped first and

second portions

231 and 232 that abut against the workpiece W when the workpiece W is suctioned by the suction nozzle 16 are provided upright downward along the front-rear direction at both left and right end portions of the lower surface of the pressing member 230. That is, the suction pipe 15 and the suction nozzle 16 are disposed between the first portion 231 and the second portion 232. As described above, the contact portion (the first portion 231 and the second portion 232) of the present embodiment is integrally formed around the intake pipe 15 and the suction nozzle 16. As shown in fig. 15, the first portion 231 and the second portion 232 apply a pressing force to the workpiece W when the workpiece W is sucked by the suction nozzle 16.

In the present embodiment, when the suction nozzle 16 sucks the first workpiece W1 as indicated by a broken-line arrow a3 in fig. 15, the tip portion of the suction nozzle 16 contracts and elastically deforms. Therefore, the suction portion of the first workpiece W1 at the tip end portion of the suction nozzle 16 after the elastic deformation is displaced in the suction direction (upward) with respect to the first portion 231 and the second portion 232. The first portion 231 and the second portion 232 apply downward pressing force to the first workpiece W1.

As described above, the portion of the first workpiece W1 between the first portion 231 and the second portion 232 is sucked upward by the suction nozzle 16, and both left and right end portions are pressed downward by the first portion 231 and the second portion 232. As a result, as shown in fig. 15, the first workpiece W1 is deflected such that the portion between the first portion 231 and the second portion 232 has a convex shape toward the upper side. Even when the first workpiece W1 and the second workpiece W2 are in close contact with each other, air enters between the first workpiece W1 and the second workpiece W2 due to the deflection generated in the first workpiece W1, and therefore the first workpiece W1 and the second workpiece W2 are separated from each other. Therefore, the second workpiece W2 separates from the first workpiece W1 and stays inside the housing case Cw as shown in fig. 15.

As described above, in the carrying device 201 of the present embodiment, the first portion 231 and the second portion 232 are integrally configured as the pressing member 230 surrounding the suction pipe 15 and the suction nozzle 16. Thus, by assembling the pressing member 230 to the lifting mechanism 14, the first contact portion 231 and the second contact portion 232 can be simultaneously assembled to the lifting mechanism 14. Therefore, when the pressing member 230 is assembled, the first portion 231 and the second portion 232 can be easily aligned. That is, the first portion 231 and the second portion 232 can be easily assembled to the conveying device 201, as compared with a configuration in which the contact portions are provided on different members.

That is, a conveying apparatus according to an example of the present invention is a conveying apparatus for conveying a plate-shaped workpiece, including: a first suction part having a bottom surface abutting against the workpiece and capable of sucking the workpiece; and a first section and a second section, a bottom surface of which can abut against the workpiece and a side surface of which is adjacent to the first suction section, and a bottom surface of which sucks the workpiece, wherein the bottom surface of the first section and the bottom surface of the second section abut against the workpiece, and the bottom surface of the first suction section is positioned closer to a first direction side where the workpiece is sucked than the bottom surface of the first section and the bottom surface of the second section, thereby flexing the workpiece.

According to the above configuration, when the workpiece is gripped and conveyed from the stacked body of the plate-shaped workpieces, the workpiece is sucked by the first suction portion, the first portion and the second portion come into contact with the workpiece, and a pressing force is applied downward, so that the first portion and the second portion are bent. Thus, the workpiece is deflected substantially simultaneously with the suction of the workpiece by the first suction portion, and the second and subsequent workpieces can be separated from the workpiece. That is, the work can be easily sucked and separated from another work.

Preferably, the first and second portions have a substantially rod shape, and are arranged substantially linearly in the order of a bottom surface of the first portion, a bottom surface of the first suction portion, and a bottom surface of the second portion when the first suction portion is viewed from above.

According to the above configuration, the first and second portions are arranged to substantially sandwich the first suction portion when the first suction portion is viewed from above, and the workpiece is easily deflected, so that the workpiece can be easily separated from another workpiece.

Preferably, a bottom surface of the first suction part is disposed between a bottom surface of the first part and a bottom surface of the second part in a bottom view of the first suction part.

According to the above configuration, the first and second portions are arranged to sandwich the first suction portion when the first suction portion is viewed from above, and the workpiece is more easily bent, so that the workpiece can be more easily separated from another workpiece.

Preferably, the first portion includes a rib.

According to this configuration, the first portion can be easily formed so as to enlarge the contact surface between the first portion and the workpiece. Therefore, the workpiece is easily deflected, and the workpiece can be easily separated from another workpiece.

According to the above configuration, when the workpiece is gripped and conveyed from the stacked body of the plate-shaped workpieces, the workpiece is suctioned by the first suction portion and the second suction portion, and the first portion comes into contact with the workpiece and applies a pressing force downward, thereby causing flexure between the first suction portion and the second suction portion. Thus, the workpiece is deflected substantially simultaneously with the suction of the workpiece by the first suction portion and the second suction portion, and the second piece and the other workpieces after the second piece can be separated from the workpiece. That is, the work can be easily sucked and separated from another work.

Preferably, the first suction part and the second suction part are substantially cylindrical, and are arranged substantially linearly in the order of a bottom surface of the first suction part, a bottom surface of the first part, and a bottom surface of the second part in a bottom view of the first suction part.

According to the above configuration, the first suction portion and the second suction portion are arranged to substantially sandwich the first portion when the first suction portion is viewed from above, and the workpiece is easily deflected, so that the workpiece can be easily separated from another workpiece.

Preferably, a bottom surface of the first portion is disposed between a bottom surface of the first suction portion and a bottom surface of the second suction portion in a bottom view of the first suction portion.

According to the above configuration, the first suction portion and the second suction portion are arranged to sandwich the first portion when the first suction portion is viewed from above, and the workpiece is more easily bent, so that the workpiece can be more easily separated from another workpiece.

Preferably, the bottom surface of the first suction part may be located on a second direction side opposite to the first direction with respect to the bottom surface of the first part.

According to the above configuration, when the first suction portion is brought into contact with the workpiece, the bottom surface of the first suction portion comes into contact with the workpiece before the bottom surface of the first portion, and therefore the workpiece in the first suction portion is easily sucked.

Further, the first suction part is preferably expandable and contractible.

According to this configuration, after the bottom surface of the first suction portion comes into contact with the workpiece, the bottom surface of the first suction portion is easily moved in the first direction, and therefore the workpiece can be more easily separated from another workpiece.

According to the conveying device of the present invention, when a workpiece is sucked from a stack of plate-shaped workpieces and conveyed, the first workpiece can be separated from the second workpiece and other workpieces after the second workpiece in a short time and conveyed.

The present application is based on japanese patent application laid-open at 7/5/2018, japanese patent application No. 2018-128411, and the content thereof is included in the present application. In addition, the specific embodiments or examples presented in the description section are only for clarifying the technical content of the present invention, and the present invention should not be construed as being limited to such specific embodiments and in a narrow sense.

Description of the symbols

1: conveying device

11: conveying guide

12: conveying mechanism

13: lifting guide piece

14: lifting mechanism

15: air suction pipe

16: adsorption nozzle

17: air suction mechanism

18: air suction hose

31: the first part

31 a: first pressing member

31 b: first contact part

32: the second part

32 a: second pressing member

32 b: second abutting part

33 b: abutting part

115 a: air suction pipe

115 b: air suction pipe

116 a: adsorption nozzle

116 b: adsorption nozzle

131: the first part

131 a: pressing member

131 b: abutting part

201: conveying device

230: pressing member

230 a: opening part

230 b: fixing hole

231: the first part

232: the second part

B: bolt

Cw: accommodating case

F: ground surface

W: workpiece

W1: first workpiece

W2: second workpiece

WL: workpiece laminated body

Claims

1. A conveying device for conveying a plate-like workpiece, comprising:

a first suction part having a bottom surface abutting against the workpiece and capable of sucking the workpiece; and

a first part and a second part, the bottom surface of which can be abutted against the workpiece and the side surface of which is adjacent to the first adsorption part

The bottom surface of the first suction portion sucks the workpiece, the bottom surface of the first portion and the bottom surface of the second portion abut against the workpiece, and the bottom surface of the first suction portion is located on a first direction side in which the workpiece is sucked, with respect to the bottom surface of the first portion and the bottom surface of the second portion, thereby flexing the workpiece.

2. The conveying device according to claim 1,

the first and second portions are substantially rod-shaped and

in a bottom view of the first suction portion,

the bottom surface of the first section, the bottom surface of the first adsorption section, and the bottom surface of the second section are arranged in this order in a substantially linear manner.

3. The conveying device according to claim 1,

in a bottom view of the first suction portion,

the bottom surface of the first suction part is disposed between the bottom surface of the first part and the bottom surface of the second part.

4. A handling device according to claim 3, characterised in that said first part comprises ribs.

5. A conveying device for conveying a plate-like workpiece, comprising:

a first portion having a bottom surface capable of abutting against the workpiece; and

a first suction part and a second suction part having a bottom surface abutting against the workpiece and capable of sucking the workpiece and a side surface adjacent to the first part, and

the bottom surface of the first suction portion and the bottom surface of the second suction portion suck the workpiece, the bottom surface of the first portion abuts against the workpiece, and the bottom surface of the first suction portion and the bottom surface of the second suction portion are positioned closer to a first direction side in which the workpiece is sucked than the bottom surface of the first portion, thereby flexing the workpiece.

6. The conveying device according to claim 5,

the first and second suction parts are substantially cylindrical and

in a bottom view of the first suction portion,

the bottom surface of the first suction part, the bottom surface of the first part, and the bottom surface of the second part are arranged in this order in a substantially straight line.

7. The conveying device according to claim 5,

in a bottom view of the first suction portion,

the bottom surface of the first section is disposed between the bottom surface of the first suction section and the bottom surface of the second suction section.

8. The conveying device according to any one of claims 1 to 7, wherein a bottom surface of the first suction part is able to be positioned on a second direction side opposite to the first direction than a bottom surface of the first part.

9. The conveying device according to claim 8, wherein the first suction part is capable of expanding and contracting.