WO2019130951A1

WO2019130951A1 - Transfer device

Info

Publication number: WO2019130951A1
Application number: PCT/JP2018/043596
Authority: WO
Inventors: 和也橋本; 陽一岸田
Original assignee: 日本電産リード株式会社
Priority date: 2017-12-26
Filing date: 2018-11-27
Publication date: 2019-07-04
Also published as: CN111511665A; JPWO2019130951A1; CN111511665B; JP7167944B2

Abstract

A transfer device 1 transfers stacked thin-board-shaped workpieces W by sequentially sucking and lifting the workpieces from the top. The transfer device is provided with: a suction transfer unit 10 that sucks and transfers each workpiece W by means of a suction nozzle 16; an air vibrator 20 that applies vibration to the suction nozzle 16; and an air discharge unit 30 that warps each workpiece W by blowing compressed air to the surface of the workpiece W sucked by means of the suction nozzle 16.

Description

Transport device

The present invention relates to a transfer apparatus, and more particularly to a transfer apparatus for sequentially attracting, lifting, and transferring stacked thin plate-like workpieces from the upper side.

2. Description of the Related Art Conventionally, there has been known a transport apparatus which lifts a workpiece sequentially from the upper side and transports the workpiece by adsorbing stacked thin plate-like workpieces such as panel parts with a suction nozzle. In such a transport apparatus, it is necessary to separate and transport the workpieces one by one so as not to transport a plurality of workpieces. For this reason, there is known a technique for reliably separating the first workpiece and the second and subsequent workpieces during transport by the transport device (see, for example, Patent Document 1 and Patent Document 2). .

In Patent Document 1, two suction pads are adsorbed on an interleaving paper superimposed on the upper surface of the panel positioned at the top, and the intensifying pads are brought close to the inward surface of the interleaving paper to bend the interleaving paper. Describes a technique for releasing the close contact between the and the top panel.

Further, Patent Document 2 discloses a separation holder for lifting at least an end portion of the plate material of the uppermost layer, an ultrasonic vibrator for applying ultrasonic vibration to the end portion of the plate material of the uppermost layer, and the uppermost layer A technique is disclosed that includes an air nozzle that blows gas into a gap formed between a plate and a plate immediately below the plate.

JP, 2009-18898, A JP, 2009-96604, A

When it is going to apply the technique of the said patent document 1 to the conveyance apparatus of a workpiece | work, it is necessary to make a workpiece | work adsorb | suck two suction pads and to closely approach. However, when two suction pads are provided, the apparatus configuration of the transfer apparatus becomes large, which causes an increase in apparatus cost.

A configuration is also conceivable in which one part of the work is suctioned by a suction pad and another part is pressed by a robot arm or the like to bend the work. However, since the pressed portion of the work may be scratched or the internal circuit may be broken, it is difficult to adopt the above configuration.

Furthermore, according to the technology described in Patent Document 2, it takes time to separate air from work because it takes time for air to enter between the work on the top layer and the work on the second sheet.

The present invention has been made in view of the circumstances as described above, and the problem to be solved by the present invention is to provide a work having a simple structure when suctioning and transferring a work from a laminate of thin plate-like works. It is possible to provide a transport apparatus that can transport in a short time without damaging the

In order to solve the above-mentioned subject, the present invention provides a conveyance device constituted below.

A transport apparatus according to an example of the present invention is a transport apparatus that sequentially adsorbs, lifts and transports stacked thin plate-like workpieces from the upper side, and adsorbs and transports the workpiece by an adsorption nozzle; The apparatus includes: a vibration generating unit that applies vibration to the suction nozzle; and an air discharge unit that bends the workpiece by blowing compressed air onto the surface of the workpiece that is sucked by the suction nozzle.

BRIEF DESCRIPTION OF THE DRAWINGS The whole front view which shows the conveying apparatus which concerns on 1st embodiment. The enlarged front view showing the conveyance device at the time of work adsorption. The enlarged front view showing the conveyance device at the time of work rise. The enlarged front view which shows the conveyance apparatus at the time of spraying. The enlarged front view showing the conveyance device at the time of conveyance of a work. The top view which shows the adsorption | suction part of a workpiece | work, and a blowing location. The enlarged front view which shows the conveying apparatus which concerns on 2nd embodiment. The top view which shows the adsorption | suction part of a workpiece | work, and a blowing location in the conveying apparatus which concerns on 2nd embodiment.

<Transporting device 1>
First, the transport apparatus 1 according to the first embodiment of the present invention will be described using FIGS. 1 to 6. Arrows shown in FIG. 1 indicate the direction of the transport device 1. The transport apparatus 1 according to the present embodiment is for attracting and lifting the workpiece W sequentially from the upper side and transporting it from the stacked body WL of thin plate-like workpieces W stacked horizontally. In the present embodiment, the workpiece W located at the top of the stacked body WL is referred to as “first workpiece W1”, and the workpiece W located immediately below the second workpiece W1 (“second workpiece W2”) Write "(see Figure 2).

The conveyance device 1 includes an adsorption conveyance unit 10, an air vibrator 20 which is a vibration generation unit, and an air discharge unit 30 as main components. In the transport apparatus 1 according to the present embodiment, each component is driven and controlled by a control unit (not shown). Hereinafter, each component will be described in order.

The suction conveyance unit 10 is configured to suction and convey the work W by the suction nozzle 16. The suction conveyance unit 10 includes a conveyance guide 11, a conveyance mechanism 12, an elevation guide 13, an elevation mechanism 14, an intake pipe 15, an adsorption nozzle 16, an intake mechanism 17, an intake hose 18 and the like.

The transport mechanism 12 is a mechanism for transporting the work W in the left-right horizontal direction (the direction of the arrow H shown in FIG. 1). The transport mechanism 12 is configured to be movable along a transport guide 11 which is bridged in the horizontal direction. A lift guide 13 is suspended downward from the transport mechanism 12, and the lift guide 14 is provided with a lift mechanism 14. The elevating mechanism 14 is configured to be vertically movable along the elevating guide 13 in the vertical direction (the direction of the arrow V shown in FIG. 1).

An intake pipe 15 is suspended downward from the elevating mechanism 14, and a suction nozzle 16 is provided at the lower end of the intake pipe 15. The intake pipe 15 is connected to an intake mechanism 17 via an intake 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 suction from the suction nozzle 16 via the suction hose 18 and the suction pipe 15.

In the suction conveyance unit 10, the control unit drives the conveyance mechanism 12 and the elevating mechanism 14 to displace the work W adsorbed by the suction nozzle 16 and the suction nozzle 16 in the vertical and horizontal directions. . In addition, the structure of a suction conveyance part is not limited to this embodiment, It does not interfere as another structure. For example, the suction nozzle 16 may be attached to the tip of a robot arm having a plurality of joints, and the suction nozzle 16 and the workpiece W may be displaced by driving the robot arm.

As shown in FIG. 1, the lift guide 13 is provided with an air vibrator 20 which is a vibration generating unit. In the present embodiment, the control unit drives the air vibrator 20 to apply vibration to the suction nozzle 16 via the intake pipe 15.

The vibration generating unit may be configured to apply vibration to the suction nozzle 16, and the embodiment is not limited to the air vibrator. For example, it is also possible to employ a vibration motor or a push / pull solenoid as the vibration generation unit. Moreover, the vibration which a vibration generation | occurrence | production part provides to the adsorption | suction nozzle 16 is not restricted to what generate | occur | produces continuously. For example, a configuration in which a weight hammer is provided in the vibration generation unit and single impact generated by the weight hammer is applied to the suction nozzle 16 is also referred to as "application of vibration to the suction nozzle 16 by the vibration generation unit".

As shown in FIG. 1, under the suction nozzle 16, a housing case Cw for housing a stacked body WL in which a large number of works W are stacked is placed on the floor surface F. In the present embodiment, the stacked body WL is disposed at a position where the central portion C (see FIG. 6) in the plan view of the work W has transitioned from immediately below the suction nozzle 16 to the left. In other words, the suctioned portion P1 (see FIG. 6) of the work W by the suction nozzle 16 is disposed transitioning from the central portion C of the work W to the right side. Further, in the present embodiment, as shown in FIG. 6, the connection terminal T is disposed at the right end portion of the work W.

As shown in FIG. 1, an air discharge unit 30 is disposed at a position adjacent to the suction pipe 15 and the suction nozzle 16 in the suction conveyance unit 10. The air discharger 30 includes a discharge nozzle 31, a nozzle support 32, a discharge mechanism 33, an air supply hose 34, and the like.

The discharge nozzle 31 is supported by a nozzle support 32 integrally assembled to the elevating mechanism 14, and is configured to be vertically displaced as the elevating mechanism 14 is moved up and down. The discharge nozzle 31 can spray compressed air at an angle orthogonal to the surface of the work W on the left end of the surface of the work W when the suction nozzle 16 sucks and lifts the work W. It is disposed at a position (a position slightly above the left side of the position at which the workpiece W is lifted) and a posture (attitude orthogonal to the surface of the workpiece W) (see FIG. 4). In the present embodiment, the discharge nozzle 31 is disposed integrally with the lifting mechanism 14 so that the work W does not contact the discharge nozzle 31 when the suction nozzle 16 lifts the work W. There is.

The discharge nozzle 31 is connected to the discharge mechanism 33 via an air supply hose 34. The discharge mechanism 33 includes a compression pump and a valve (not shown), and the control unit drives the discharge mechanism 33 to discharge compressed air from the discharge nozzle 31 via the air supply hose 34. In addition, by supporting the discharge nozzle 31 by a column standing on the floor surface F, the air discharge unit 30 and the suction conveyance unit 10 can be configured separately.

As shown in FIG. 4, the air discharge unit 30 is configured to bend the work W when the discharge nozzle 31 blows compressed air onto the surface of the work W to which the suction nozzle 16 has adsorbed. In the present embodiment, a portion of the work W on which the compressed air is blown to the discharge nozzle 31 is referred to as a “spraying point P2”. As shown in FIG. 6, the spray point P2 in the present embodiment is disposed at the left end of the workpiece W.

Next, with reference to FIG. 2 to FIG. 5, the procedure of transporting the work W by the transport apparatus 1 according to the present embodiment will be described. First, the elevating mechanism 14 is driven to lower the intake pipe 15 and the suction nozzle 16 as shown by the arrow Vd in FIG. 2 so that the suction nozzle 16 abuts on the first work W1 in the laminated body WL. Then, the suction mechanism 17 is driven to suck the first work W1 by the suction nozzle 16 as shown by the broken line arrow A1 in FIG. The suction of the first workpiece W1 by the suction nozzle 16 is continued until the transfer by the transfer device 1 is completed.

Next, the elevating mechanism 14 is driven to raise the intake pipe 15 and the suction nozzle 16 as shown by the arrow Vu in FIG. 3 to lift the first work W1. At this time, the second workpiece W2 may be in close contact with the first workpiece W1 and may be lifted together with the first workpiece W1.

Next, as shown in FIG. 4, the air vibrator 20 is driven to apply vibration to the suction nozzle 16 through the intake pipe 15. At the same time, the discharge mechanism 33 is driven to discharge compressed air from the discharge nozzle 31 as shown by arrow A2 in FIG. The compressed air discharged from the discharge nozzle 31 is sprayed to the left end portion (spraying point P2) of the first workpiece W1 as shown in FIG. 4, and the left end portion of the first workpiece W1 is bent. Due to the vibration received from the suction nozzle 16 and the deflection of the first workpiece W1, the second workpiece W2 is separated from the first workpiece W1 and dropped into the storage case Cw as shown by the arrow D in FIG.

In the present embodiment, as shown in FIG. 4, vibration is applied by the air vibrator 20 and discharge of compressed air from the discharge nozzle 31 when the first work W1 and the second work W2 are lifted to a certain height. However, it is also possible to apply these vibrations and discharge the compressed air as soon as the raising of the intake pipe 15 and the suction nozzle 16 by the raising and lowering mechanism 14 starts.

Next, the transport mechanism 12 is driven to horizontally displace the intake pipe 15 and the suction nozzle 16 as shown by the arrow Hr in FIG. 5 to transport the first workpiece W1. After that, the next work W is transported by the suction pipe 15 and the suction nozzle 16 returned to the original position (see FIG. 1) by the transport mechanism 12.

The second workpiece W2 may not be attracted to the first workpiece W1 or may drop during lifting. In these cases, there is no particular problem in transferring the work W in the transfer apparatus 1 configured as described above. Therefore, in the present embodiment, the description of the case where the second work W2 is not adsorbed to the first work W1 will be omitted.

As described above, in the conveyance device 1 according to the present embodiment, the second workpiece W2 is the first workpiece due to the vibration by the air vibrator 20 and the deflection of the first workpiece W1 by the compressed air discharged from the air discharge unit 30. The second workpiece W2 is separated from the first workpiece W1 when the second workpiece W2 is adsorbed to the W1. As a result, the second work W2 can be separated from the first work W1 without contact (without damaging the work W) with a simple configuration in which a plurality of suction nozzles are not provided.

Further, the compressed air from the air discharge unit 30 does not have to enter between the first work W1 and the second work W2, and it is sufficient to bend the first work W1. Therefore, since the second work W2 can be separated from the first work W1 at the moment when compressed air is discharged from the air discharge unit 30, the work W can be transported in a short time.

In addition, in the transport device 1 according to the present embodiment, when the discharge nozzle 31 of the air discharge unit 30 lifts the first work W1 by the suction nozzle 16, the discharge nozzle 31 from the suction nozzle 16 side (upper side) of the first work W1 Compressed air is blown toward the surface of the first work W1 at an angle intersecting the surface of the first work W1. Thereby, the first work W1 can be bent downward, which is the direction in which the second work W2 drops. That is, since the force to cause the second work W2 to fall can be applied by the deflection of the first work W1, the first work W1 and the second work W2 can be easily separated.

Moreover, in the conveyance apparatus 1 which concerns on this embodiment, the discharge nozzle 31 of the air discharge part 30 is blowing compressed air at the angle orthogonal to the surface of 1st workpiece | work W1. As a result, the kinetic energy of the compressed air can be effectively transmitted (with less energy loss) to the first work W1. For this reason, when compared with the structure which sprays compressed air diagonally, since the 1st workpiece | work W1 can be bent more with the same air quantity, isolation | separation with 2nd workpiece | work W2 becomes easy.

In addition, in the transport apparatus 1 according to the present embodiment, as shown in FIG. 6, the suction portion P1 of the work W by the suction nozzle 16 is disposed transitioning from the central portion C of the work W to the right end side. The nozzle 31 is configured to spray compressed air to the spray point P2 at the left end of the workpiece W. As a result, the distance between the suctioned portion P1 and the spray point P2 can be increased, so that the bending moment generated in the work W can be increased. As a result, it is possible to make deflection with the work W larger and to easily separate it from other works W.

Further, in the transport apparatus 1 according to the present embodiment, as shown in FIG. 6, the connection terminal T is provided at the right end of the workpiece W, and the suction terminal P of the workpiece W by the suction nozzle 16 has the connection terminal T in the workpiece W It is arranged on the right side which is the side provided. As a result, since the spraying point P2 by the discharge nozzle 31 can be kept away from the connection terminal T, adhesion of minute foreign substances such as particles to the connection terminal T can be suppressed when compressed air is sprayed.

In addition, in the conveyance apparatus 1 which concerns on this embodiment, although it is set as the structure which sprays compressed air continuously on the surface of the workpiece | work W, the air discharge part 30 can also be set as the structure which sprays compressed air intermittently. . With such a configuration, since the number of times the shape is recovered by elasticity after bending occurs in the work W can be increased, the work W can be easily separated from other works.

Another Embodiment
Next, a transport apparatus according to another embodiment of the present invention will be described using FIGS. 7 and 8. The transport apparatus according to the present embodiment is different from the transport apparatus 1 according to the first embodiment only in the number of air discharge parts. Therefore, in the following, the same configuration as the first embodiment will not be described in detail, and different configurations will be mainly described.

As shown in FIG. 7, in the transport apparatus according to the present embodiment, a first air discharge unit 30 a having a first discharge nozzle 31 a is disposed at a position adjacent to the left side of the intake pipe 15 and the suction nozzle 16. Further, at a position adjacent to the right side of the intake pipe 15 and the suction nozzle 16, a second air discharge portion 30b provided with a second discharge nozzle 31b is disposed. The first air discharger 30a and the second air discharger 30b are each configured to include an air supply hose, a discharge mechanism, and the like (not shown).

At the first discharge nozzle 31a, when the suction nozzle 16 sucks the workpiece W and lifts it, a position where the compressed air can be blown to the left front corner of the surface of the workpiece W (a little position of the position where the workpiece W is lifted) The tip is disposed at the upper left position). In addition, when the suction nozzle 16 sucks and lifts the work W, the second discharge nozzle 31b can lift compressed air to the right rear corner of the surface of the work W (the work W is lifted) The tip portion is disposed at a position slightly above the rear right of the position).

As shown in FIG. 7, in the first and second

air discharge units

30a and 30b, the first and

second discharge nozzles

31a and 31b spray compressed air onto the surface of the work W to which the suction nozzle 16 has adsorbed. It is configured to deflect W. In the present embodiment, as shown in FIG. 8, a portion of the work W on which the compressed air is blown to the first discharge nozzle 31 a is referred to as “first spray point P2”. Further, a portion of the work W on which the compressed air is blown to the second discharge nozzle 31 b is referred to as a “second spray point P3”. As shown in FIG. 8, the first spray location P2 in the present embodiment is disposed at the left front corner of the workpiece W, and the second spray location P3 is disposed at the right rear corner of the workpiece W.

In the transport apparatus according to the present embodiment, as shown in FIG. 7, the air vibrator 20 is driven to apply vibration to the suction nozzle 16 through the intake pipe 15. At the same time, the discharge mechanisms of the first air discharge portion 30a and the second air discharge mechanism 30b are driven, and compressed air is supplied from the first discharge nozzle 31a and the second discharge nozzle 31b as shown by arrows A2 and A3 in FIG. Discharge.

The compressed air discharged from the

discharge nozzles

31a and 31b is sprayed to the left front corner (spraying point P2) and the right rear corner (spraying point P3) of the first workpiece W1, as shown in FIG. Is bent at both corners. The second workpiece W2 is separated from the first workpiece W1 when the second workpiece W2 is adsorbed to the first workpiece W1 due to the vibration received from the suction nozzle 16 and the deflection of the first workpiece W1, and the arrow in FIG. 7 As shown in D, it falls into the storage case Cw. As described above, in the present embodiment, the configuration is such that compressed air is blown to two places to the first work W1, thereby making the deflection of the first work W1 larger and separating it from the second work W2 easily. Is possible.

Further, in the transport apparatus according to the present embodiment, the work W is formed in a rectangular plate shape, the first spray location P2 is disposed at the left front corner of the workpiece W, and the second spray location P3 is the right rear corner of the workpiece W Will be placed. In other words, in the workpiece W, the first spray location P2 and the second spray location P3 are disposed on the same diagonal line DL in the workpiece W as shown in FIG.

By configuring as described above, since the distance between the first spray point P2 and the second spray point P3 can be maximized, the bending moment generated in the work W can be increased. As a result, it is possible to make deflection with the work W larger and to easily separate it from other works W.

As described above, the transfer device according to an example of the present invention is a transfer device that sequentially adsorbs, lifts and transports stacked thin plate-like workpieces from the upper side, and adsorbs and transports the workpieces by an adsorption nozzle. A conveyance unit, a vibration generation unit for applying vibration to the suction nozzle, and an air discharge unit for bending the work by blowing compressed air onto the surface of the work held by the suction nozzle; It is.

According to this configuration, when adsorbing and transporting the workpiece from the laminate of thin plate-like workpieces, it is possible to transport in a short time without damaging the workpiece with a simple configuration.

Preferably, the air discharge unit blows compressed air from the suction nozzle side of the work toward the surface of the work at an angle intersecting the surface.

According to this configuration, it becomes possible to easily separate from another work by bending of the work.

Preferably, the air discharge unit blows compressed air at an angle perpendicular to the surface of the work.

According to this configuration, since the work can be bent more, separation from other works is facilitated.

In addition, the suction portion of the work by the suction conveyance portion is arranged to transition from the central portion of the work to one end direction, and the air discharge portion has compressed air at the other end direction end of the work. Spraying is preferred.

According to this configuration, it is possible to make the deflection of the work larger and to easily separate it from other works.

Preferably, a connection terminal is provided at an end of the work, and the suction portion of the work by the suction conveyance unit is disposed on the side of the work where the connection terminal is provided.

According to this configuration, it is possible to suppress the adhesion of minute foreign substances such as particles to the connection terminal when the compressed air is blown.

Further, a suction portion of the work by the suction conveyance portion is disposed at a central portion of the work, and the air discharge portion is a first air discharge portion that blows compressed air to an end portion on one end direction of the work; It is preferable that a second air discharge unit that blows compressed air to an end on the other end direction side of the work is provided.

Further, the work is formed in a rectangular plate shape, and in the work, a first spray location where compressed air is sprayed to the first air discharge portion, and a second spray location where compressed air is sprayed to the second air discharge portion Are preferably arranged on the same diagonal in the work.

Preferably, the air discharge unit intermittently blows compressed air on the surface of the work.

According to this configuration, it is possible to easily separate the work from other works.

According to such a transport apparatus, when adsorbing and transporting a work from a laminate of thin plate-like works, it is possible to transport in a short time without damaging the work with a simple configuration.

This application is based on Japanese Patent Application No. 2017-249348 filed on Dec. 26, 2017, the contents of which are included in the present application. The specific embodiments or examples made in the section of the mode for carrying out the invention clearly show the technical contents of the present invention to the last, and the present invention is only for such specific examples. It should not be interpreted in a narrow sense limited to

1 Transport device 10 Suction transport section 11 Transport guide
12 Transport mechanism 13 Lifting guide
14 Lifting mechanism 15 Intake pipe
16 suction nozzle 17 intake mechanism
18 intake hose
20 Air vibrator (vibration generating unit)
30 air discharger 30a first air discharger
30b Second air discharger 31 discharge nozzle
31a first discharge nozzle 31b second discharge nozzle
32 nozzle support 33 discharge mechanism
34 Air hose C Central
Cw storage case DL diagonal
F Floor surface P1 adsorption part P2 spray location (first spray location)
P3 spray location (second spray location)
T connection terminal
W work W1 first work
W2 second work WL work stack

Claims

A conveying device for sequentially attracting, lifting and conveying stacked thin plate-like workpieces from the upper side, comprising:
A suction conveyance unit that suctions and conveys the work by a suction nozzle;
A vibration generating unit that applies vibration to the suction nozzle;
An air discharge unit for deflecting the work by blowing compressed air onto the surface of the work adsorbed by the adsorption nozzle.
2. The conveyance device according to claim 1, wherein the air discharge unit blows compressed air from the suction nozzle side of the work toward the surface of the work at an angle intersecting the surface.
The conveyance device according to claim 2, wherein the air discharge unit blows compressed air at an angle orthogonal to the surface of the work.
The suctioned portion of the work by the suction nozzle is arranged to transition from the central portion of the work to one end direction,
The conveyance apparatus according to any one of claims 1 to 3, wherein the air discharge unit blows compressed air to an end on the other end direction side of the work.
A connection terminal is provided at the end of the work,
The transfer apparatus according to claim 4, wherein a suction portion of the work by the suction nozzle is disposed on the side of the work where the connection terminal is provided.
A suction portion of the work by the suction nozzle is disposed at a central portion of the work;
The air discharge portion includes a first air discharge portion that blows compressed air to an end portion on the one end direction side of the work, and a second air discharge portion that blows compressed air to the end portion on the other end side of the work The transport apparatus according to any one of claims 1 to 3, provided.
The work is formed in a rectangular plate shape,
In the work, a first spray location where compressed air is blown to the first air discharge portion and a second spray location where compressed air is blown to the second air discharge portion are disposed on the same diagonal in the work The transfer apparatus according to claim 6, which is
The conveyance device according to any one of claims 1 to 7, wherein the air discharge unit intermittently blows compressed air on the surface of the work.