JP7297553B2 - scooping device - Google Patents

Description

TECHNICAL FIELD The present invention relates to an apparatus for transferring an object, and more particularly to an apparatus for scooping up an object to be transferred by inserting a thin plate under the object to be transferred placed at a predetermined location.

An example of this type of device is described in US Pat. The device consists of two thin plates stacked one on top of the other with a small gap between them, and each thin plate is wrapped around the thin plate so as to cover the tip of each thin plate, and the thin plates are connected to each other. and an annular film. A free roller is arranged on the rear end side of the upper film wound around the upper thin plate of the two thin plates, and the upper film is also wound around the free roller. A feed roller is arranged on the rear end side of the lower film wound around the lower thin plate of the two thin plates, and the lower film is also wound around the feed roller. When each thin plate is inserted under the object to be transferred, the feed roller is rotated by the motor to insert the thin plate under the object to be transferred by the same insertion length, The upper film is sent to the upper side of the upper thin plate through the tip of the upper thin plate. Also, the lower film is fed from the upper side of the lower thin plate to the lower side of the lower thin plate through the tip of the lower thin plate. By doing so, a relative speed difference does not occur between the object to be transferred and the upper film and between the placement surface on which the object to be transferred is placed and the lower film. .

JP 2018-12578 A

In the device described in Patent Document 1, when the circumferential lengths of both ends of the film are slightly different in the width direction, or when the rotation center of the feed roller or the free roller is set with respect to the axis parallel to the width direction of each thin plate, When each film is repeatedly run along each thin plate when the axes are not parallel, each film may meander with respect to each thin plate. When the meandering of the film described above occurs, at least a part of the tip of each thin plate may be exposed, and each thin plate is inserted under the object to be transferred with the tip of each thin plate exposed. In such a case, there is a possibility that the leading end of each thin plate may come into contact with the object to be transferred and damage the object to be transferred.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a scooping device capable of suppressing meandering of a film and scooping up an object to be transferred without damaging it. .

In order to achieve the above object, the present invention provides two thin plates stacked with a slight gap therebetween, and an end portion of an upper thin plate disposed above one of the two thin plates. and an annular lower film wrapped around the tip of a lower thin plate disposed below the upper thin plate, wherein the upper film and the lower film are connected to each other at locations where the upper film and the lower film face each other, and when the upper thin plate and the lower thin plate are inserted under the transfer object, , the same length as the insertion length for inserting the upper thin plate and the lower thin plate to the lower side of the transfer object, from the lower side of the upper thin plate to the upper side of the upper thin plate through the tip of the upper thin plate In a scooping device configured so that the upper film is fed and the lower film is fed from the upper side of the lower thin plate to the lower side of the lower thin plate through the tip of the lower thin plate, the width of the lower thin plate lower guide portions are provided on both sides of the tip portion of the lower thin plate in the direction of the film, and are spaced wider than the lower film and guide the running of the lower film along the lower thin plate. The portion is positioned rearward of the tip portion of the upper thin plate in an insertion direction in which the upper thin plate and the lower thin plate are inserted under the transfer object.

In this aspect of the invention, the lower guide portion has a projecting portion projecting from the front end portion of the lower thin plate toward the object to be transferred in the insertion direction.

In this invention, the tip of the upper thin plate may be arranged closer to the object to be transferred than the tip of the lower thin plate in the insertion direction, and may be bent toward the lower thin plate.

According to this invention, each film is wrapped around the front end of each thin plate. The films are connected to each other at points opposite each other, so that the films run together along the lamellae. A lower guide portion for guiding the running of the lower film is provided on each of both sides of the leading end portion of the lower thin plate. The interval between the lower guide portions is set larger than the width of the lower film. Since the movement of the lower film along the lower thin plate is guided by the lower guide portion, movement of the lower film in the width direction of the lower thin plate, that is, meandering of the lower film can be suppressed. In addition, as described above, since the films are connected to each other, the meandering of the lower film is suppressed, thereby suppressing the meandering of the upper film. As a result, the tip of each thin plate can be kept covered with each film. Accordingly, it is possible to prevent the leading end of each thin plate from contacting the object to be transferred and damaging the object to be transferred. In addition, the lower guide portion is located behind the leading end portion of the upper thin plate in the insertion direction in which each thin plate is inserted under the object to be transferred. Thereby, when each thin plate is inserted under the transfer object, it is possible to prevent the lower guide portion from coming into contact with the transfer object.

It is a side view which shows typically an example of the scooping apparatus which concerns on embodiment of this invention. It is a rear view which shows typically an example of the scooping-up apparatus which concerns on embodiment of this invention. FIG. 2 is a partially cutaway side view of an example of a film unit; 1 is a top view of an example of a film unit; FIG. FIG. 4 is a top view schematically showing an example of the configuration of an upper thin plate; FIG. 4 is a top view schematically showing an example of a configuration of a lower thin plate; It is a figure which shows an example of operation|movement of the scooping-up apparatus which concerns on embodiment of this invention.

A scooping-up device according to an embodiment of the present invention scoops up a transfer object placed on a placement surface such as a table or a conveyor without particularly changing its posture or shape, and scoops up the transfer object. It is a device that superimposes an object on another object to be transferred or transfers it onto another placement surface. In order to scoop up the object to be transferred without disturbing the posture or shape of the object to be transferred, the above-mentioned scooping device includes two thin plates and a tip part of each thin plate. and a looped film. Each film is connected to each other at locations facing each other. It is configured to be sent respectively to the lower side. By doing this, the relative speed difference between the object to be transferred and the upper thin plate out of the two thin plates, and the relative speed difference between the lower thin plate out of the two thin plates and the mounting surface is as small as possible. Further, in the scooping device according to the embodiment of the present invention, a lower guide portion for guiding the travel of the lower film along the lower thin plate is provided on each of both sides of the leading end portion of the lower thin plate, thereby suppressing meandering of the lower film. is configured to In addition, by suppressing meandering of the lower film, meandering of the upper film connected to the lower film is also suppressed. As a result, the tip of each thin plate is kept covered with each film wound around each thin plate, and damage to the object to be transferred due to contact of each tip with the object to be transferred is suppressed. It's becoming First, an example of the configuration of the scooping device according to the embodiment of the present invention will be described, and then the configuration of each thin plate described above will be described.

FIG. 1 is a side view schematically showing an example of a scooping device 1 according to an embodiment of the invention, and FIG. 2 is a rear view schematically showing an example of the scooping device 1 according to an embodiment of the invention. be. As shown in FIGS. 1 and 2, the scooping device 1 includes a flat plate-like base plate 2 extending in the longitudinal direction of the scooping device 1, and a multi-joint (not shown) above the base plate 2 in the vertical direction of the scooping device 1. The arm part of the model robot is attached. The articulated robot is configured to be able to move the arm portion in three-dimensional directions. It is configured to change the size, etc. The position, posture, orientation, height, etc. of the scooping device 1 by the articulated robot can be changed, for example, by photographing an object to be transferred (not shown) placed on the placement surface with a camera, The image data is analyzed by a controller (not shown), and the articulated robot is controlled based on the analysis results.

A rail 3 is provided at one end of the base plate 2 in the length direction and extends in a direction perpendicular to the length direction, that is, in the vertical direction in FIG. A pressing plate 4 is attached so as to be vertically movable along the rail 3. - 特許庁When the two thin plates are inserted under the object to be transferred, the pressing plate 4 touches the object to be transferred and lightly presses the object to prevent the change in the posture of the object to be transferred. It suppresses. Specifically, when the holding plate 4 of the scooping device 1 is placed above the object to be transferred and transferred by the multi-joint robot, and the scooping device 1 is lowered in this state, the holding plate 4 is placed on the upper surface of the object to be transferred. , and moves upward along the rail 3 in the vertical direction in FIG. 1 as the scooping device 1 descends.

A return spring 5 is provided below the rail 3 in the vertical direction to return the pressing plate 4 to its original position. The return spring 5 imparts an elastic force to the pressing plate 4 so as to move the pressing plate 4 downward in the vertical direction. In the following description, the side on which the pressing plate 4 is provided in the longitudinal direction of the scooping device 1 is referred to as the tip side of the scooping device 1 .

A linear guide 6 extending in a direction parallel to the length direction of the base plate 2 is attached to the lower side of the base plate 2, as shown in FIG. A body portion 7 is attached to the base plate 2 via a linear guide 6 so as to be movable in the longitudinal direction. The main body 7 has a case 8, and in the example shown here, a motor 9 is integrally attached to the case 8. As shown in FIG. A rotor shaft of the motor 9 extends inside the case 8, and one end of the driving roller 10 is connected to the rotor shaft. The other end of the drive roller 10 extends outside the case 8, and a pinion gear 11 is attached to the other end. The motor 9, drive roller 10 and pinion gear 11 are arranged on the same axis. Further, the diameter of the drive roller 10 and the diameter of the pitch circle of the pinion gear 11 are set to be substantially the same diameter. At least part of the pinion gear 11 is covered with a gear case 12 . The motor 9 is configured to operate based on a control command signal from the controller described above.

As shown in FIGS. 1 and 2, a film unit 13 is detachable below the main body 7. The film unit 13 holds the thin plates and a roller around which the film is wound together with the thin plates according to the embodiment of the present invention. attached to the Specifically, protrusions 14 protruding in the longitudinal direction are formed on the side surface of the case 8 on the pressing plate 4 side and on both end portions in the width direction of the scooping device 1 . At positions corresponding to the protrusions 14 in the film unit 13, recesses 15 into which the protrusions 14 are fitted are formed. The film unit 13 can be temporarily fixed to the case 8 by fitting the projection 14 into the recess 15 . On the other hand, as shown in FIG. Fasteners 16A forming part of the clamps 16 are attached respectively. A hook 16B, which constitutes another part of the clamp 16, is attached to the film unit 13 at a position corresponding to the fastening portion 16A. The film unit 13 is fixed to the case 8 by hooking the retaining portion 16A on the hook 16B while the film unit 13 is temporarily fixed to the case 8 by fitting the projecting portion 14 into the concave portion 15. As shown in FIG.

A side plate 17 is attached to the base plate 2 as shown in FIGS. A rack 18 having teeth meshing with the pinion gear 11 is provided on the side plate 17 . Therefore, when the motor 9 is driven by the controller and the pinion gear 11 rotates together with the driving roller 10, the pinion gear 11 moves back and forth along the rack 18, and accordingly the main body 7 moves back and forth in the longitudinal direction of the scooping device 1. do.

3 is a partially broken side view showing an example of the film unit 13, and FIG. 4 is a top view of the example of the film unit 13. As shown in FIG. The film unit 13 includes a pair of flat plate-like side walls 13A extending in the longitudinal direction, and a flat plate-like plate extending in a direction perpendicular to the side walls 13A and connecting rear ends of the side walls 13A. and a rear wall portion 13B. As shown in FIG. 1, a hook portion 19 projecting upward in the vertical direction of the scooping device 1 is formed at the tip of each side wall portion 13A. formed respectively. The length from the hook portion 19 to the rear end portion of each side wall portion 13A in the longitudinal direction is substantially the same as the length of the case 8. As shown in FIG. The length of the rear wall portion 13B is set to be the same as the width of the case 8 in the width direction of the scooping device 1. As shown in FIG.

The above-described hooks 16B are attached to both ends of the rear wall portion 13B in the width direction. The film unit 13 is fixed to the lower side of the body portion 7 by hooking or engaging the hooks 16B with the fastening portions 16A attached to the body portion 7. As shown in FIG. A slit 20 extending in the longitudinal direction is formed in each of the side surfaces facing each other on the distal end side of each side wall portion 13A. Each slit 20 is for attaching two thin plates 21 and 22 to the film unit 13, and the fitting portions of the two thin plates 21 and 22 stacked with a predetermined interval are fitted into the slits 20. It is designed to be

Also, three notch portions 23, 24, 25 are formed at predetermined intervals from the tip portion of each side wall portion 13A. Various rollers described below are rotatably and detachably attached to the film unit 13 through the notch portions 23, 24, and 25. With the various rollers attached to the film unit 13, each roller and an axis parallel to the width direction of the scooping device 1 are arranged to be parallel to each other. The openings of the cutouts 23, 24, and 25 are open to the main body 7 side, so that when the film unit 13 is fixed to the main body 7, the openings are closed by the case 8. As shown in FIG. In the following description, the first notch 23, the second notch 24, and the third notch 25 are referred to in order from the tip side in the longitudinal direction of the side wall 13A.

A tension roller 26 is held in the first notch 23 . As shown in FIG. 3 , the tension roller 26 causes the annular upper film 27 wound around the upper thin plate 21 to run along the upper thin plate 21 , that is, suppresses separation of the upper film 27 from the upper thin plate 21 . It is. A free roller 28 is held in the second notch 24 . An upper film 27 is wound around the free roller 28 . That is, the upper film 27 is wound around the upper thin plate 21 and the free roller 28 . A driven roller 29 corresponding to the feed roller in the embodiment of the invention is held in the third notch portion 25 . When the film unit 13 is fixed to the main body 7, the driven roller 29 is engaged with the driving roller 10 so as to transmit torque, and receives torque from the driving roller 10 to rotate. An annular lower film 30 is wound around the driven roller 29 and the lower thin plate 22 . The upper film 27 and the lower film 30 are connected to each other between the upper thin plate 21 and the lower thin plate 22 by a conventionally known connecting means such as tape or adhesive.

Here, the configuration of the two thin plates 21 and 22 will be explained. FIG. 5 is a top view schematically showing an example of the configuration of the upper thin plate 21 of the two thin plates 21 and 22. As shown in FIG. As shown in FIG. 5, the upper thin plate 21 has an upper insertion portion 31 that protrudes from the film unit 13 and is inserted under the object to be transferred, and an upper base portion 32 that is arranged inside the film unit 13 . An upper base portion 32 is positioned behind the upper insertion portion 31 in the direction in which the thin plates 21 and 22 are inserted below the object to be transferred (hereinafter simply referred to as the insertion direction).

The upper insertion portion 31 is configured in a so-called vertical lattice or horizontal lattice shape, and includes a plurality of vertical rod members 33 arranged parallel to an axis parallel to the above-described insertion direction, and vertical rod members 33 perpendicular to each vertical rod member 33 . and cross bar members 34 arranged in such a manner as to In the example shown in FIG. 5, each vertical bar member 33 is composed of 13 round bars or pipes. The horizontal bar member 34 is made of a round bar or pipe like the vertical bar member 33 . One end of each vertical bar member 33 is integrally connected to the horizontal bar member 34 at predetermined intervals. The other end of each vertical rod member 33 is integrally connected to the upper base portion 32 .

The connection between the horizontal bar member 34 and one end of each vertical bar member 33 and the connection between the other end of each vertical bar member 33 and the upper base portion 32 can be performed by welding, for example. can. Further, the tip portion 21A of the upper thin plate 21 is bent at a predetermined angle toward the lower thin plate 22, as shown in FIG. This is to facilitate insertion of the thin plates 21 and 22 under the transfer object.

Further, upper guide portions 35 are provided on both sides of the upper thin plate 21 in the width direction of the tip portion 21A of the upper thin plate 21 so as to protrude from the both sides. The upper guide portion 35 functions to cover projections of a lower guide portion provided at the distal end portion 22A of the lower thin plate 22, which will be described below. The width of the upper thin plate 21 is set substantially equal to the width of the upper film 27 . Therefore, when the upper film 27 is in a predetermined position for winding on the upper thin plate 21 in terms of design, the upper film 27 is positioned between the left and right upper guide portions 35, and the upper film 27 is positioned from both sides of the upper guide portion 35. A portion 35 protrudes. Upper fitting portions 36 to be inserted into the slits 20 are provided on both sides of the upper base portion 32 in the width direction.

FIG. 6 is a top view schematically showing an example of the configuration of the lower thin plate 22 of the two thin plates 21 and 22. As shown in FIG. As shown in FIG. 6, the lower thin plate 22 has a lower insertion portion 37 that protrudes from the film unit 13 and is inserted under the object to be transferred, and a lower base portion 38 that is arranged inside the film unit 13 . A lower base portion 38 is positioned behind the lower insertion portion 37 in the insertion direction. The length of the lower thin plate 22 in the longitudinal direction is set shorter than that of the upper thin plate 21 as shown in FIG.

The lower insertion portion 37 is constructed substantially in the same manner as the vertical bar member 33 of the upper thin plate 21 . That is, it is configured in a so-called vertical lattice or horizontal lattice shape, in which a plurality of vertical rod members 39 are arranged parallel to an axis parallel to the insertion direction, and the vertical rod members 39 are arranged so as to be orthogonal to each vertical rod member 39 . A horizontal bar member 40 is provided. In the example shown here, each vertical bar member 39 is constituted by twelve round bars or pipes, which is one less than the number of vertical bar members 33 of the upper thin plate 21 .

The horizontal bar member 40 of the lower thin plate 22 is formed of a round bar or a pipe like the vertical bar member 39, and is formed shorter than the horizontal bar member 34 of the upper thin plate 21. As shown in FIG. The horizontal bar members 40 of the lower thin plate 22 are attached to the horizontal bar members 40 at the same intervals as the horizontal bar members 34 are attached to the upper thin plate 21 . By doing so, when the thin plates 21 and 22 are superimposed, the horizontal bar members 34 of the upper thin plate 21 and the horizontal bar members 40 of the lower thin plate 22 are alternately arranged in the width direction as shown in FIG. It is designed to be The other end of each vertical bar member 39 is integrally connected to the lower base portion 38 .

The connection between one end of each vertical rod member 39 of the lower thin plate 22 and the horizontal rod member 40 of the lower thin plate 22 and the connection between the other end of each vertical rod member 39 and the lower base portion 38 are For example, it can be done by welding. Further, as shown in FIG. 3, the tip portion 22A of the lower thin plate 22 has a flat plate shape as a whole, and the tip portion 22A is not bent.

Further, lower guide portions 41 are provided on both sides of the lower thin plate 22 in the width direction of the tip portion 22A of the lower thin plate 22 so as to protrude from the both sides. A protruding portion 42 is provided on the opposite side of the lower guide portion 41 to the vertical bar member 39 and protrudes further than the tip portion 22A in the longitudinal direction. The interval or length between the pair of protrusions 42 is set to be substantially the same as or slightly longer than the width of the lower film 30 . Therefore, the movement of the lower film 30 in the width direction is prevented or suppressed by the contact between the end portion of the lower film 30 in the width direction and the protrusion 42 of the lower guide portion 41, thereby preventing the meandering of the lower film 30. It is supposed to be suppressed.

Lower fitting portions 43 to be inserted into the slits 20 are provided on both sides of the lower base portion 38 in the width direction. On the upper surface of the lower base portion 38, that is, the surface facing the upper base portion 32, each of the films 27 and 27 is formed between the upper thin plate 21 and the lower thin plate 22 when the upper thin plate 21 and the lower thin plate 22 are overlapped. A plurality of spacers 44 are provided to form a gap for the carriage 30 to run. The height of those spacers 44 is predetermined by design. Further, when the thin plates 21 and 22 are superimposed, the width of the tip portion 21A of the upper thin plate 21 including the upper guide portion 35 and the width of the tip portion 22A of the lower thin plate 22 including the lower guide portion 41 are substantially the same. The width of each guide portion 35, 41 is set so as to

The thin plates 21 and 22 are attached to the film unit 13 described above by inserting the thin plates 21 and 22 into the slit 20 with the fitting portions 36 and 43 of the thin plates 21 and 22 overlapping each other. The film unit 13 is provided with a stopper (not shown). In this state, as shown in FIGS. 3 and 4 described above, the tip portion 22A of the lower thin plate 22 is arranged behind the tip portion 21A of the upper thin plate 21 in the longitudinal direction (insertion direction). Therefore, the lower guide portion 41 is positioned on the rear side of the upper guide portion 35 in the length direction. At least a portion of the upper guide portion 35 and the lower guide portion 41 overlap each other in the stacking direction of the thin plates 21 and 22 . Specifically, the upper side and the tip side of the protrusion 42 of the lower guide portion 41 are covered with the upper guide portion 35 in the stacking direction. This is to prevent the projecting portion 42 from coming into contact with the object to be transferred when the thin plates 21 and 22 are inserted under the object to be transferred. That is, each protrusion 42 is protected by the upper guide portion 35 .

The operation of the scooping device 1 configured as described above will be described. For example, an object to be transferred placed on a transfer conveyor is photographed by a camera, and the image data is analyzed by a controller. Input data such as orientation and height to the articulated robot. The articulated robot operates based on the input data, and arranges the scooping device 1 on the front side in the transfer direction of the object to be transferred. Also, the scooping device 1 is lowered so that the tips 21A and 22A of the thin plates 21 and 22 approach the mounting surface, that is, the heights of the tips 21A and 22A of the thin plates 21 and 22 are lowered as much as possible. do. This facilitates insertion of the tip portions 21A and 22A under the transfer object.

Next, when the motor 9 is rotated in the forward rotation direction by the controller described above, the pinion gear 11 rotates in the forward rotation direction like the motor 9 . Here, the forward rotation direction of the motor 9 means the rotation direction of the motor 9 when the thin plates 21 and 22 are brought closer to the object to be transferred. Since the pinion gear 11 is meshed with the rack 18 , the pinion gear 11 moves along the rack 18 . As a result, the body portion 7 advances toward the object to be transferred. As the motor 9 rotates forward, the drive roller 10 rotates in the same direction as the motor 9, thereby rotating the driven roller 29 engaged with the drive roller 10 so as to transmit torque. The driven roller 29 rotates in the opposite direction to the driving roller 10 .

FIG. 7 is a diagram schematically showing an example of the operation of the scooping device 1 in the embodiment of this invention. As shown in FIG. 7, since the driven roller 29 is wrapped with the lower film 30 as described above, the rotation of the driven roller 29 causes the lower film 30 to run along the lower thin plate 22 . Since the diameter of the drive roller 10 is set to be substantially the same as the pitch circle diameter of the pinion gear 11, the length of movement of the main body 7 is substantially the same as that of the movement of the drive roller 10 and the driven roller 29. The lower film 30 runs from the upper side of the lower thin plate 22 to the lower side through the tip portion 22A of the lower thin plate 22 .

Since the lower film 30 and the upper film 27 are connected to each other, the upper film 27 is also extended from the lower side of the upper thin plate 21 to the upper side by the same length as the lower film 30 traveled as described above. It runs through the tip 21A. In this manner, the films 27 and 30 are sent under the object W to be transferred. When the object W to be transferred is placed on the upper thin plate 21 , the motor 9 is stopped and the object W to be transferred is scooped up by the articulated robot together with the scooping device 1 . In addition, the position, posture, orientation, height, etc. of the scooping device 1 are changed, and moved above other objects to be transferred and other placement surfaces (not shown). Then, the scooping device 1 is lowered to bring the lower surface of the lower thin plate 22 into contact with the upper surface of another object to be transferred or another mounting surface. Then, by rotating the motor 9 in the reverse direction, the thin plates 21 and 22 are pulled out from the lower side of the object W to be transferred, and the object W to be transferred is stacked on top of another object to be transferred, or An object W to be transferred is transferred onto another placement surface.

Further, the scooping-up device 1 according to the embodiment of the present invention stacks the transfer object W on another transfer object, transfers the transfer object W onto another placement surface, and the like. The so-called transfer operation is repeatedly performed. That is, the films 27 and 30 are repeatedly run along the thin plates 21 and 22 . In the scooping device 1 according to the embodiment of the present invention, the lower thin plate 22 is provided with the lower guide portion 41, and the lower guide portion 41 is provided with protrusions 42 that contact both ends of the lower film 30, respectively. Therefore, for example, even if the films 27 and 30 are repeatedly run in a state where the circumferential lengths at both ends of the films 27 and 30 are different from each other due to manufacturing errors, the both ends of the lower film 30 and the protrusions will not be affected. 42, movement of the lower film 30 in the width direction is suppressed. Moreover, since the upper film 27 is connected to the lower film 30 , the movement of the upper film 27 in the width direction is suppressed, similarly to the lower film 30 . As a result, meandering of the films 27 and 30 can be suppressed. As a result, the tip portions 21A and 22A are kept covered with the films 27 and 30, and are exposed to the transfer object W when the thin plates 21 and 22 are inserted under the transfer object W. It is possible to prevent the tip portions 21A and 22A from contacting each other and damaging the object W to be transferred. Since the lower guide portion 41 is covered with the upper guide portion 35, the lower guide portion 41 comes into contact with the transfer object W when the thin plates 21 and 22 are inserted under the transfer object W. It is possible to prevent the transfer object W from being damaged.

Furthermore, in the scooping device 1 according to the embodiment of the present invention, the axis of rotation of the driven roller 29 and the free roller 28 is slightly different from the axis parallel to the width direction of the thin plates 21 and 22 due to so-called assembly error or manufacturing error. Even in the case of deviation, the same actions and effects as described above can be obtained. In addition, the frictional force generated between the thin plates 21, 22 and the films 27, 30, and the adhesion between the thin plates 21, 22 and the films 27, 30 due to the moisture and oil content of the transfer object. Even if the applied force differs between one side and the other side in the width direction, the same actions and effects as described above can be obtained.

It should be noted that the present invention is not limited to the above-described embodiment, and the number and thickness of the vertical bar members 33 and 39 constituting the insertion portions 31 and 37 of the thin plates 21 and 22, or their vertical lengths. The distance between the rod members 33 and 39 may be changed as appropriate within the scope of achieving the object of the present invention. Further, each guide portion 35, 41 may be configured to contact each film 27, 30 to suppress meandering. good. Alternatively, they may be configured as members separate from the thin plates 21 and 22 and detachably attached to the tip portions 21A and 22A. In that case, in order to prevent the films 27 and 30 from being caught, the portions that come into contact with the films 27 and 30 should be rounded so that they come into contact smoothly.

DESCRIPTION OF SYMBOLS 1... Scoop-up device 21... Upper thin plate 21A... Tip of upper thin plate 22... Lower thin plate 22A... Tip of lower thin plate 27... Upper film 30... Lower film 41... Lower guide part W... Transfer Object to be loaded.

Claims (2)

Two thin plates stacked with a small gap therebetween, and an annular upper film wrapped around the tip of the upper thin plate disposed above one of the two thin plates so as to cover the tip of the thin plate. and an annular lower film wrapped around the tip of the lower thin plate arranged below the upper thin plate, wherein the upper film and the lower film are formed by combining the upper film and the lower film. When the upper thin plate and the lower thin plate are inserted under the object to be transferred, the upper thin plate is connected to the film on the lower side of the object to be transferred. and the lower thin plate, the upper film is fed from the lower side of the upper thin plate to the upper side of the upper thin plate through the tip of the upper thin plate, and the upper side of the lower thin plate A scooping device configured to feed the lower film to the lower side of the lower thin plate through the tip of the lower thin plate from
On both sides of the tip of the lower thin plate in the width direction of the lower thin plate, there are provided lower guide portions that are wider than the lower film and guide the travel of the lower film along the lower thin plate. cage,
The lower guide portion is positioned rearward of the tip portion of the upper thin plate in an insertion direction in which the upper thin plate and the lower thin plate are inserted under the object to be transferred, and
The scooping device, wherein the lower guide part has a protruding part that protrudes from the tip of the lower thin plate toward the object to be transferred in the insertion direction. A scooping device according to claim 1 , comprising:
A scooping device, wherein the tip of the upper thin plate is arranged closer to the object to be transferred than the tip of the lower thin plate in the insertion direction, and is bent toward the lower thin plate. .

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