WO2020008744A1 - 搬送装置 - Google Patents

搬送装置 Download PDF

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Publication number
WO2020008744A1
WO2020008744A1 PCT/JP2019/020077 JP2019020077W WO2020008744A1 WO 2020008744 A1 WO2020008744 A1 WO 2020008744A1 JP 2019020077 W JP2019020077 W JP 2019020077W WO 2020008744 A1 WO2020008744 A1 WO 2020008744A1
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WO
WIPO (PCT)
Prior art keywords
work
suction
suction nozzle
contact
unit
Prior art date
Application number
PCT/JP2019/020077
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
隆志 伊砂
和也 橋本
Original Assignee
日本電産リード株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日本電産リード株式会社 filed Critical 日本電産リード株式会社
Priority to JP2020528708A priority Critical patent/JPWO2020008744A1/ja
Priority to KR1020217002952A priority patent/KR20210029786A/ko
Priority to CN201980045210.3A priority patent/CN112384458A/zh
Publication of WO2020008744A1 publication Critical patent/WO2020008744A1/ja

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/08—Separating articles from piles using pneumatic force
    • B65H3/0808—Suction grippers
    • B65H3/0816—Suction grippers separating from the top of pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/08—Separating articles from piles using pneumatic force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/08—Separating articles from piles using pneumatic force
    • B65H3/0808—Suction grippers
    • B65H3/0883—Construction of suction grippers or their holding devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/42—Piling, depiling, handling piles
    • B65H2301/423—Depiling; Separating articles from a pile
    • B65H2301/4232—Depiling; Separating articles from a pile of horizontal or inclined articles, i.e. wherein articles support fully or in part the mass of other articles in the piles
    • B65H2301/42324—Depiling; Separating articles from a pile of horizontal or inclined articles, i.e. wherein articles support fully or in part the mass of other articles in the piles from top of the pile
    • B65H2301/423245—Depiling; Separating articles from a pile of horizontal or inclined articles, i.e. wherein articles support fully or in part the mass of other articles in the piles from top of the pile the pile lying on a stationary support, i.e. the separator moving according to the decreasing height of the pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2406/00—Means using fluid
    • B65H2406/30—Suction means
    • B65H2406/34—Suction grippers
    • B65H2406/342—Suction grippers being reciprocated in a rectilinear path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2406/00—Means using fluid
    • B65H2406/30—Suction means
    • B65H2406/34—Suction grippers
    • B65H2406/343—Details of sucking member

Definitions

  • the present invention relates to a transfer device for transferring a work.
  • Patent Document 1 discloses that two suction pads are sucked to a slip sheet superimposed on an upper surface of a panel located at an uppermost portion, and the suction pads are brought closer to the inside of the slip sheet to bend the slip sheet. A technique for releasing the close contact state between the panel and the uppermost panel is described.
  • Patent Document 1 after the work is sufficiently sucked by the two suction pads, the work is separated by bringing the suction pads closer to each other. At this time, since a plurality of steps of suction and approach are performed, there is room for improvement in the work gripping step.
  • An object of the present invention is to provide a transfer device that can more easily separate plate-shaped works.
  • a transfer device is a transfer device that transfers a plate-shaped work, wherein a first suction unit having a bottom surface in contact with the work and capable of sucking the work, and a bottom surface in contact with the work. And a first part and a second part whose side faces are adjacent to the first suction part. A bottom surface of the first suction part sucks the work, and a bottom surface of the first part and the second part. The bottom surface of the first suction portion contacts the work, and the bottom surface of the first suction portion is located on the first direction side that sucks the work more than the bottom surface of the first portion and the bottom surface of the second portion. It bends.
  • the transfer device is a transfer device that transfers a plate-shaped work, A first portion having a bottom surface capable of contacting the work, and a first suction portion and a second suction portion having a bottom surface contacting the work and capable of adsorbing the work, and having side surfaces adjacent to the first portion.
  • a bottom surface of the first suction unit and a bottom surface of the second suction unit suck the work, a bottom surface of the first unit abuts the work, and a bottom surface of the first suction unit and the second suction unit
  • the work is bent by positioning the bottom surface of the first part on the first direction side that adsorbs the work with respect to the bottom surface of the first part.
  • FIG. 1 is an overall front view showing a transport device according to a first embodiment.
  • FIG. 3 is an enlarged front view showing the transfer device before suction of the work.
  • FIG. 4 is an enlarged front view showing the transfer device at the time of suction of the work.
  • FIG. 3 is an enlarged front view showing the transfer device when the work is lifted.
  • FIG. 3 is an enlarged front view showing the transfer device when transferring a work.
  • 6A to 6C are plan views showing first to third modifications of the arrangement of the first suction unit and the first and second parts.
  • FIGS. 7A and 7B are plan views showing fourth and fifth modifications of the arrangement of the first suction unit and the first and second parts.
  • FIG. 8A to 8D are plan views showing sixth to ninth modifications of the arrangement of the first suction part and the first and second parts.
  • FIG. 10 is an enlarged front view showing a state in which a workpiece is sucked in the transfer device according to the second embodiment.
  • 10A to 10C are plan views showing tenth to twelfth modifications of the arrangement of the first and second suction portions and the first portion.
  • 11A and 11B are plan views showing thirteenth and fourteenth modifications of the arrangement of the first and second suction portions and the first portion.
  • 12A to 12C are plan views showing fifteenth to seventeenth modifications of the arrangement of the first and second suction portions and the first part.
  • FIG. 9 is an overall front view showing a transport device according to a third embodiment.
  • FIG. 14 is a view taken along line AA in FIG. 13.
  • FIG. 10 is an enlarged front view illustrating a state in which a work is sucked in the transfer device according to the third embodiment.
  • the transport device 1 is a device for sucking a workpiece W from above from a stacked body WL of plate-like workpieces W stacked horizontally, gripping and transporting the workpiece W from above.
  • first work W1 the work W located on the top of the stacked body WL
  • second work W2 the work W located immediately below (first from the top) the first work W1
  • the transport device 1 includes a transport guide 11, a transport mechanism 12, an elevating guide 13, an elevating mechanism 14, an intake pipe 15, a suction nozzle 16, which is a first suction unit of the present invention, an intake mechanism 17, and an intake hose 18.
  • the first part 31 includes a first pressing member 31a and a first contact part 31b
  • the second part 32 includes a second pressing member 32a and a second contact part 31b.
  • the driving of each component is controlled by a control unit (not shown).
  • a configuration in which the work W is sucked to the first suction unit by using an electrostatic chuck or an electromagnetic chuck may be adopted as a method of sucking the work W in the first suction unit.
  • the transport mechanism 12 is a mechanism (transport unit) for transporting the work W by displacing the suction unit in the horizontal direction (the direction of arrow H shown in FIG. 1).
  • the transport mechanism 12 is configured to be movable along the transport guide 11 that is bridged in the horizontal direction.
  • An elevating guide 13 is hung downward from the transport mechanism 12, and the elevating guide 13 is provided with an elevating mechanism 14.
  • the elevating mechanism 14 is configured to be able to move up and down along the elevating guide 13 in the vertical direction (the direction of the arrow V shown in FIG. 1).
  • a suction pipe 15 is hung downward from a substantially central portion in the left-right direction on the lower surface of the lifting mechanism 14, and a suction nozzle 16 is provided at a lower end of the suction 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).
  • the control unit drives the suction mechanism 17 to suction air from the suction nozzle 16 through the suction hose 18 and the suction pipe 15, and the suction nozzle 16 Adsorb W.
  • the suction 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 unit suctions the work W (see FIG. 3).
  • a first part 31 and a second part 32 each having a substantially bar shape, hang down on both left and right sides of the intake pipe 15.
  • the intake pipe 15 is provided between the first part 31 and the second part 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 31a.
  • 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 32a.
  • the side surfaces of the first part 31 and the second part 32 are arranged at positions adjacent to the suction nozzle 16.
  • first and second contact portions 31b and 32b come into contact with the work W when the suction nozzle 16 sucks the work W.
  • the first and second contact portions 31b and 32b are formed of an elastically deformable material such as a foamed resin (see FIG. 3). As shown in FIG. 3, the first and second contact portions 31b and 32b apply a pressing force to the work W when the suction nozzle 16 sucks the work W.
  • first and second pressing members 31a and 32a are formed in a shape having a width in the front-rear direction, and the first and second abutting portions 31b and 32b are lines along the front-rear direction with respect to the workpiece W. It is also possible to adopt a configuration that abuts on the shape. Further, the first part 31 and the second part 32 may be constituted by only the first and second pressing members 31a and 32a without the first and second contact parts 31b and 32b.
  • the control unit drives the transport mechanism 12 and the elevating mechanism 14 so that the suction nozzle 16 and the work W sucked by the suction nozzle 16 can be displaced in the vertical and horizontal directions.
  • the configuration of the suction conveyance unit is not limited to the present embodiment, and another configuration may be used.
  • a configuration is also possible in which the suction nozzle 16 and the workpiece W are displaced by mounting the suction nozzle 16 on the tip of a robot arm having a plurality of joints and driving the robot arm.
  • a storage case Cw that stores a stacked body WL in which a number of works W are stacked is placed on a floor surface F.
  • a central portion C of the work W in a plan view is disposed immediately below the suction nozzle 16.
  • the work W is arranged such that the suction portion V of the suction nozzle 16 overlaps the central portion C of the work W.
  • a connection terminal T is arranged at the right end of the work W.
  • the elevating 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 work W1 in the stacked body WL.
  • the bottom surface of the suction nozzle 16 is located in the second direction (downward) from the bottom surfaces of the first and second contact portions 31b and 32b, so that the bottom surface of the suction nozzle 16 is in the first position.
  • the second contact portions 31b and 32b are brought into contact with the work W before the bottom surfaces thereof, so that the suction nozzle 16 can easily suck the work W.
  • a driving mechanism for the suction nozzle 16 so that the suction nozzle 16 moves up and down independently.
  • the bottom surface of the suction nozzle 16 and the bottom surfaces of the first and second contact portions 31b and 32b may be arranged at the same height.
  • the first and second contact portions 31b and 32b of the first part 31 and the second part 32 are smaller than the first work W1. They are separated by a distance.
  • the suction mechanism 16 is driven to suck the first work W1 by the suction nozzle 16 as indicated by a broken arrow A1 in FIG.
  • the suction of the first work W1 by the bottom surface of the suction nozzle 16 is continued until the transfer of the first work W1 by the transfer device 1 is completed.
  • the suction nozzle 16 grips the first work W1 while bending the first work W1 by positioning the bottom surface above the bottom surfaces of the first and second contact portions 31b and 32b.
  • the suction nozzle 16 is configured to be easily deformed by the elastic deformation of the suction nozzle 16, but a configuration different from that of the present embodiment may be employed.
  • a configuration different from that of the present embodiment may be employed.
  • the suction portion of the first work W1 at the tip end of the suction nozzle 16 is relatively moved relative to the first and second contact portions 31b and 32b. It is displaced upward (the intake pipe 15 is raised, or the first part 31 and the second part 32 are lowered).
  • the first and second contact portions 31b and 32b can be brought into contact with the first work W1, and a pressing force can be applied to the first work W1 downward.
  • a drive mechanism for vertically displacing one of the suction nozzle 16 and the first part 31 and the second part 32 is provided.
  • the lifting mechanism 14 is driven to raise the suction pipe 15 and the suction nozzle 16 as shown by the arrow Vu in FIG. 4 to lift the first work W1.
  • the first work W1 is lifted in a bent state.
  • the bending of the first work W1 may be eliminated. That is, after raising the first work W1, the suction force of the suction nozzle 16 by the suction mechanism 17 may be reduced to such an extent that the first work W1 does not drop, and the first work W1 may be prevented from bending.
  • the transport mechanism 12 is driven to horizontally displace the suction pipe 15 and the suction nozzle 16 as shown by the arrow Hr in FIG. 5 to transport the first work W1. Thereafter, 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 transfer device 1 when the suction nozzle 16 sucks the first work W1, the first and second contact portions 31b and 32b contact the first work W1, and The configuration is such that a pressing force is applied downward to one work W1. Thereby, the first work W1 can be gripped while being bent almost simultaneously with the suction of the first work W1 by the suction section, and the second work W2 can be separated from the first work W1. That is, adsorption of the first work W1 and separation of the first work W1 and the second work W2 can be easily performed.
  • the distal end of the suction nozzle 16 is contracted and elastically deformed.
  • the suction portion of the first work W1 is moved upward from the first and second contact portions 31b and 32b without providing a drive mechanism for relatively displacing the suction nozzle 16 or the first portion 31 and the second portion 32.
  • FIGS. I do. 6 to 9 show the suction nozzle 16 as viewed from the bottom (a state viewed from below).
  • the suction nozzle 16 when the suction nozzle 16 sucks the work W, the first and second contact portions 31b and 32b contact the work W, so that the work W can be gripped while being bent.
  • 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 vertices of a triangle. It is possible.
  • the suction nozzle 16 may be a rectangular suction nozzle 16s.
  • another contact portion 33b is provided on the opposite side of the first and second contact portions 31b and 32b across the suction nozzle 16. It is also possible.
  • the suction nozzle 16, the first contact portion 31b, and the second contact portion 32b are replaced with the first contact portion 31b, the suction nozzle 16, and the second contact portion. It is also possible to arrange them substantially linearly in the order of 32b.
  • the suction nozzle 16 in the configuration of FIG. 7A can be a rectangular suction nozzle 16s. In this way, by arranging the first contact portion 31b, the suction nozzle 16, and the second contact portion 32b in a substantially linear order in this order, the suction nozzle 16 can be moved from the bottom to the first contact portion 31b and the second contact portion 32b. Since the arrangement is such that the portion 32b is substantially sandwiched and the work W is easily bent, the first work W1 can be easily separated from the second work W2.
  • the suction nozzle 16 in the configuration of FIG. 8A can be a rectangular suction nozzle 16s.
  • the first contact portion 31b is formed as an L-shaped first contact portion 31s in the configuration of FIG. 8A
  • the second contact portion 32b is formed in the configuration of FIG. 8A.
  • the second contact portion 32s may be formed integrally.
  • the suction nozzle 16 can be connected to the first contact portion 31b and the second contact portion in bottom view. Since the arrangement is such that the work 32b is sandwiched and the work W is more easily bent, the first work W1 can be more easily separated from the second work W2.
  • the first contact portion 31b as the contact rib 31r in the configuration of FIG. 8A, as shown in a ninth modified example in FIG. 8D.
  • the contact surface between the contact rib 31r and the work W can be widened, and the work W is easily bent, so that the first work W1 can be easily separated from the second work W2. .
  • the relationship between the suction unit and the contact unit is opposite to that of the transport device 1 according to the first embodiment. That is, two suction pipes 115a and 115b serving as suction units are provided, and a suction nozzle 116a serving as a first suction unit according to the present invention and a 116b serving as a second suction unit according to the present invention are provided at lower ends thereof.
  • a columnar first portion 131 is provided between the intake pipes 115a and 115b.
  • the first portion 131 includes a rod-shaped pressing member 131a and a contact portion 131b provided at a lower end of the pressing member 131a. As shown in FIG.
  • the side surfaces of the first and second suction portions 116a and 116b are arranged at positions adjacent to the first portion 131.
  • the bottom surface of the first portion 131 (the bottom surface of the contact portion 131b) contacts the work W when the first and second suction portions 116a and 116b suck the work W.
  • the suction nozzles 116a and 116b suck the first work W1 as indicated by broken arrows A21 and A22 in FIG. 9, the distal ends of the suction nozzles 116a and 116b contract and elastically deform. For this reason, the suction portion of the first work W1 at the tip end of the suction nozzles 116a and 116b after the elastic deformation is displaced upward from the contact portion 131b. Then, the contact portion 131b applies a pressing force downward to the first work W1.
  • the left and right ends of the first work W1 in this embodiment 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 the contact portion 131b. Is pressed downward. As a result, the first workpiece W1 is bent such that the portion between the first suction portion 116a and the second suction portion 116b has a convex shape as shown in FIG. That is, the suction nozzles 116a and 116b grip the first work W1 while bending the first work W1 because the bottom surface is located above the bottom surface of the contact portion 131b.
  • the contact portion 131b contacts the first work W1, and the first work W1 is The pressure is applied downward.
  • the first work W1 can be gripped while being bent almost simultaneously with the suction of the first work W1 by the suction section, and the second work W2 can be separated from the first work W1. That is, adsorption of the first work W1 and separation of the first work W1 and the second work W2 can be easily performed.
  • FIGS. 10 to 12 shows a bottom view of the suction nozzle 116a (a state viewed from below).
  • the suction nozzles 116a and 116b when the suction nozzles 116a and 116b suck the work W, the contact portion 131b contacts the work W, so that the work W can be gripped while being bent.
  • the suction nozzles 116a and 116b and the contact portion 131b can be arranged so as to be located at the vertices of a triangle.
  • the contact portion 131b in the configuration of FIG. 10A, can be a rectangular contact portion 131s.
  • FIG. 10C in the configuration of FIG. 10A, it is also possible to provide another suction portion 116c on the opposite side of the suction nozzles 116a and 116b across the contact portion 131b. is there.
  • the suction nozzle 16, the suction nozzles 116a and 116b, and the contact portion 131b are substantially linearly formed in the order of the suction nozzle 116a, the contact portion 131b, and the suction nozzle 116b. It is also possible to arrange. Further, as shown in a fourteenth modified example in FIG. 11B, in the configuration of FIG. 11A, the contact portion 131b can be a rectangular contact portion 131s.
  • the contact portion 131b is substantially sandwiched between the suction nozzle 116a and the suction nozzle 116b when viewed from the bottom. Since the bending of W easily occurs, the first work W1 can be easily separated from the second work W2.
  • the contact portion 131b can be disposed between the suction nozzle 116a and the suction nozzle 116b. Further, as shown in a sixteenth modified example in FIG. 12B, in the configuration of FIG. 12A, the contact portion 131b can be a rectangular contact portion 131s. As shown in a seventeenth modified example in FIG. 12C, the suction nozzle 116a and the suction nozzle 116b can be formed as rectangular suction nozzles 116s and 116s in the configuration of FIG. 12A.
  • the contact portion 131b is disposed so that the suction nozzle 116a and the suction nozzle 116b are sandwiched in a bottom view. Further, the first work W1 can be more easily separated from the second work W2 because bending is more likely to occur.
  • the transport device 201 according to the present embodiment is the same as the transport device 1 according to the first embodiment except for the configuration of the first unit 231 and the second unit 232, and thus the configuration of the first unit 231 and the second unit 232. This will be mainly described.
  • a pressing member 230 formed in a U-shape in a horizontal cross section is provided on the lower surface of the elevating mechanism 14 of the transport device 201 so as to surround the side and rear of the intake pipe 15.
  • the pressing member 230 is formed in a box shape having an opening 230a formed on the front surface. That is, the suction pipe 15 and the suction nozzle 16 are housed inside the opening 230 a of the pressing member 230.
  • the pressing member 230 is fixed to the lifting mechanism 14 by inserting bolts B, B into fixing holes 230 b, 230 b opened on the bottom surface.
  • first and second rib-shaped portions 231 and 232 that come into contact with the work W when the suction nozzle 16 sucks the work W are provided on the lower left and right ends of the pressing member 230 in the front-rear direction. It is erected downward along. That is, the suction pipe 15 and the suction nozzle 16 are arranged between the first part 231 and the second part 232.
  • the contact portions (the first portion 231 and the second portion 232) according to the present embodiment are integrally formed around the intake pipe 15 and the suction nozzle 16.
  • the first part 231 and the second part 232 apply a pressing force to the work W when the suction nozzle 16 sucks the work W.
  • the tip of the suction nozzle 16 contracts and elastically deforms. For this reason, the suction portion of the first work W1 at the distal end of the suction nozzle 16 after the elastic deformation is displaced in a direction (upward) in which the first work W1 and the second portion 232 are sucked. Then, the first part 231 and the second part 232 apply a downward pressing force to the first work W1.
  • the part between the first part 231 and the second part 232 is sucked upward by the suction nozzle 16, and the left and right ends are downward by the first part 231 and the second part 232. Pressed.
  • This causes the first workpiece W1 to bend such that the portion between the first part 231 and the second part 232 has a convex shape as shown in FIG.
  • W2 is separated. Therefore, the second work W2 is separated from the first work W1, and stays inside the storage case Cw as shown in FIG.
  • the first part 231 and the second part 232 are integrally configured as the pressing member 230 surrounding the suction pipe 15 and the suction nozzle 16.
  • the first contact portion 231 and the second contact portion 232 can be simultaneously attached to the lifting mechanism 14 by attaching the pressing member 230 to the lifting mechanism 14. Therefore, when the pressing member 230 is assembled, the first part 231 and the second part 232 can be easily aligned. That is, the first portion 231 and the second portion 232 can be easily assembled to the transport device 201 as compared with a configuration in which the contact portions are provided on separate members.
  • a transfer device is a transfer device that transfers a plate-shaped work, and has a first suction unit having a bottom surface in contact with the work and capable of sucking the work, and a bottom surface in contact with the work.
  • a first part and a second part, the side surfaces being adjacent to the first suction part, the bottom surface of the first suction part sucking the work, and the bottom surface of the first part and the second part.
  • the bottom surface of the two parts is in contact with the work, and the bottom surface of the first suction part is located on the first direction side that sucks the work more than the bottom surfaces of the first part and the second part. This is to bend the work.
  • first part and the second part are substantially rod-shaped, and the bottom surface of the first part, the bottom surface of the first suction part, and the bottom surface of the second part are viewed from the bottom of the first suction part. It is preferable that they are arranged substantially linearly in order.
  • the first portion and the second portion are arranged so as to substantially sandwich the first suction portion, and the work is easily bent, so that the work can be easily separated from other works. It becomes possible to separate.
  • the bottom surface of the first suction unit is disposed between the bottom surface of the first unit and the bottom surface of the second unit.
  • the first portion and the second portion are arranged so as to sandwich the first suction portion, and the work is more easily bent, so that the work can be more easily separated from other works. It becomes possible to separate.
  • the first part includes a rib.
  • the transfer device is a transfer device that transfers a plate-shaped work, A first portion having a bottom surface capable of contacting the work, and a first suction portion and a second suction portion having a bottom surface contacting the work and capable of adsorbing the work, and having side surfaces adjacent to the first portion.
  • a bottom surface of the first suction unit and a bottom surface of the second suction unit suck the work, a bottom surface of the first unit abuts the work, and a bottom surface of the first suction unit and the second suction unit
  • the work is bent by positioning the bottom surface of the first part on the first direction side that adsorbs the work with respect to the bottom surface of the first part.
  • first suction portion and the second suction portion are substantially cylindrical, and when viewed from the bottom of the first suction portion, the bottom surface of the first suction portion, the bottom surface of the first portion, and the second portion. Are preferably arranged in a substantially straight line in the order of the bottom surfaces.
  • the first suction unit and the second suction unit are arranged to substantially sandwich the first portion, and the work is easily bent, so that the work can be easily separated from other works. It becomes possible to separate.
  • the bottom surface of the first portion is disposed between the bottom surface of the first suction portion and the bottom surface of the second suction portion as viewed from the bottom of the first suction portion.
  • the first suction unit and the second suction unit are disposed so as to sandwich the first portion, and the work is more likely to bend. It becomes possible to separate easily.
  • the bottom surface of the first suction unit can be located on the second direction side opposite to the first direction with respect to the bottom surface of the first unit.
  • the first suction unit is capable of expanding and contracting.

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  • Sheets, Magazines, And Separation Thereof (AREA)
PCT/JP2019/020077 2018-07-05 2019-05-21 搬送装置 WO2020008744A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2020528708A JPWO2020008744A1 (ja) 2018-07-05 2019-05-21 搬送装置
KR1020217002952A KR20210029786A (ko) 2018-07-05 2019-05-21 반송 장치
CN201980045210.3A CN112384458A (zh) 2018-07-05 2019-05-21 搬送装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018128411 2018-07-05
JP2018-128411 2018-07-05

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WO2020008744A1 true WO2020008744A1 (ja) 2020-01-09

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PCT/JP2019/020077 WO2020008744A1 (ja) 2018-07-05 2019-05-21 搬送装置

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JP (1) JPWO2020008744A1 (zh)
KR (1) KR20210029786A (zh)
CN (1) CN112384458A (zh)
WO (1) WO2020008744A1 (zh)

Cited By (1)

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