Workpiece receiving support device

Abstract

The present application provides a workpiece receiving support device capable of more reliably supporting each workpiece even when sequentially supporting workpieces having different non-flat surfaces. The workpiece receiving support device sequentially abuts against non-flat surfaces of a plurality of workpieces having different non-flat surfaces and is capable of sequentially supporting the workpieces. The workpiece receiving support device has at least one positioning member that abuts against and positions a workpiece, and a plurality of surface profiling members that abut against the workpiece positioned by the positioning member and are configured to follow rotational movement and linear movement of the surface of the workpiece. The positioning member and the surface profiling members have an abutting portion that abuts against and supports the workpiece, and sliding portions on both sides of the abutting portion that are capable of sliding when in contact with the workpiece while following the surface of the workpiece.

Description

Technical Field

[0001] This invention relates to a workpiece receiving and supporting device. Background Technology

[0002] Previously, it was known that a support device was used to adsorb and support a warped workpiece by employing multiple adsorbents configured to move in accordance with the workpiece (for example, see Patent Document 1, etc.).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2002-321181 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] When supporting a workpiece with a predetermined surface shape, it is necessary to use a rotary mechanism and a linear motion mechanism to move multiple adsorption parts that abut against the workpiece to follow the surface shape of the workpiece, thereby making each adsorption part in close contact with the surface of the workpiece.

[0008] However, when using a support device to sequentially support workpieces with various different non-flat surfaces, the following problems arise. Furthermore, a workpiece with a non-flat surface is defined as one whose surface, at least partially, abuts the support device and is supported, includes at least one of the following shapes: a curved surface, an inclined surface formed by the intersection of multiple flat surfaces, and so on. Workpieces with a non-flat surface do not include those whose entire surface, abutting the support device and being supported, is composed of only a single flat plane (a straight plane).

[0009] After the first workpiece is supported, the arrangement of the multiple adsorption parts of the support device is maintained in a state that follows the non-linear plane of the first workpiece. Therefore, there is a situation where, after the first workpiece is supported, when the same support device is used to support a second workpiece that has a non-linear plane different from that of the first workpiece, even if each adsorption part is pressed against the second workpiece, it is impossible for each adsorption part to move along the non-linear plane of the second workpiece, and it is impossible for all adsorption parts to make close contact with the surface of the second workpiece.

[0010] Therefore, it is desirable to be able to support each workpiece more reliably, even when workpieces with different non-flat planes are supported sequentially.

[0011] Solution for solving the problem

[0012] One aspect of this disclosure is a workpiece receiving and supporting device that sequentially abuts against and supports a plurality of workpieces having various different non-linear planes. The workpiece receiving and supporting device comprises: at least one positioning member that abuts against and positions relative to the workpiece; and a plurality of surface-conforming members that abut against the workpiece positioned by the positioning member and are configured to follow the surface of the workpiece for rotational and linear movement. The positioning member and the surface-conforming members each have: abutting portions that abut against and support the workpiece; and sliding portions located on both sides of the abutting portions that are capable of sliding along the surface of the workpiece when in contact with it.

[0013] The effects of the invention

[0014] According to one aspect of this disclosure, a workpiece receiving support device can be provided that can more reliably support each workpiece even when workpieces with different non-flat planes are supported sequentially. Attached Figure Description

[0015] Figure 1 This is a perspective view showing a workpiece receiving support device according to one embodiment of the present disclosure.

[0016] Figure 2 This is a front view showing a workpiece receiving support device according to one embodiment of the present disclosure.

[0017] Figure 3 This is a bottom view showing a workpiece receiving support device according to one embodiment of the present disclosure.

[0018] Figure 4 This is an enlarged view showing a common part of the positioning member and the surface contouring member of a workpiece receiving support device according to an embodiment of the present disclosure.

[0019] Figure 5 This is a perspective view illustrating the state before the workpiece receiving support device according to an embodiment of the present disclosure supports a first workpiece and a second workpiece with different curvatures.

[0020] Figure 6 This is a bottom view showing the state in which the workpiece receiving support device according to an embodiment of the present disclosure begins to support the first workpiece.

[0021] Figure 7 This is a bottom view showing the state in which the first workpiece is supported by the workpiece receiving support device according to an embodiment of the present disclosure.

[0022] Figure 8This is a perspective view showing the state in which the first workpiece is supported by the workpiece receiving support device according to an embodiment of the present disclosure.

[0023] Figure 9 This is a bottom view showing the state in which a second workpiece with a different curvature is supported after the first workpiece has been supported by the workpiece receiving support device according to an embodiment of the present disclosure.

[0024] Figure 10 This is a bottom view showing the process of supporting a second workpiece with a different curvature after the first workpiece has been supported by the workpiece receiving support device according to an embodiment of the present disclosure.

[0025] Figure 11 This is a bottom view showing the state in which a second workpiece with a different curvature is supported after the first workpiece has been supported by the workpiece receiving support device according to an embodiment of the present disclosure.

[0026] Figure 12 This is an enlarged view showing a common part of the positioning member and the surface contouring member of a workpiece receiving support device according to another embodiment of the present disclosure.

[0027] Figure 13 This is a front view showing a workpiece receiving support device according to another embodiment of the present disclosure.

[0028] Explanation of reference numerals in the attached figures

[0029] 1. Workpiece receiving and supporting device; 3. Positioning component; 4. Surface conforming component; 33, 43. Abutting part; 35, 45. Sliding part; 331, 431. Suction cup; 351, 451. Roller (rotating component); 353, 453. Component; W1. First workpiece; W2. Second workpiece. Detailed Implementation

[0030] Hereinafter, an embodiment of the workpiece receiving and supporting device of this disclosure will be described with reference to the accompanying drawings. Figures 1-3 As shown, the workpiece receiving and supporting device 1 has a positioning member 3 and a surface contouring member 4 on the mounting side 21 facing the Z2 direction of a common base plate 2 formed of a rectangular flat plate. The workpiece receiving and supporting device 1 is mounted on the front end of a robot arm or crane (not shown) via the common base plate 2. The workpiece receiving and supporting device 1 can move in any direction by the movement of the robot arm or crane, and through repeated movements, it can sequentially abut and support multiple workpieces (e.g., the first workpiece W1 and the second workpiece W2 described later) having various non-flat surfaces.

[0031] Furthermore, in the directions shown in each figure, the X direction is the direction along the surface of the common substrate 2, which represents the width direction of the workpiece receiving support device 1. The Y direction is the direction along the surface of the common substrate 2, which represents the direction orthogonal to the X direction. The Y1 direction represents the direction in which the workpiece receiving support device 1 moves toward the workpiece when supporting it, and the Y2 direction represents the direction in which the workpiece receiving support device 1 moves away from the workpiece after being released from support. The Z direction represents the direction perpendicular to the common substrate 2. The Z1 direction represents the opposite direction of the Z2 direction.

[0032] Positioning component 3 is positioned relative to the workpiece (refer to...) Figure 5 The first workpiece W1 and the second workpiece W2, as shown, abut against each other to support the workpiece and determine the position of the workpiece receiving support device 1 relative to the workpiece. The positioning member 3 is fixedly provided in such a way that it cannot move in either of the XYZ directions relative to the mounting side 21 of the common substrate 2. However, the positioning member 3 can rotate and move at any angle about the axis C1 to follow the surface shape of the workpiece. The axis C1 is arranged along the Z direction, which is perpendicular to the mounting side 21 of the common substrate 2.

[0033] Like the positioning member 3, the surface contouring member 4 is a member that abuts against the workpiece and supports it. The surface contouring member 4 is configured to be immobile in the X and Z directions relative to the mounting side 21 of the common substrate 2. However, the surface contouring member 4 is configured to be able to move linearly along the Y direction and to be able to rotate about axis C2 at any angle following the surface shape of the workpiece. Axis C2, like axis C1, is arranged along the Z direction perpendicular to the mounting side 21 of the common substrate 2.

[0034] The workpiece receiving and supporting device 1 of this embodiment has one positioning member 3 and two surface contouring members 4, 4 respectively disposed on both sides of the positioning member 3. However, the positioning member 3 is not limited to one. Two or more positioning members 3 may be disposed between adjacent surface contouring members 4, 4. In addition, two or more surface contouring members 4 may be disposed on each side with a gap between them and the positioning member 3.

[0035] Next, the specific construction of the positioning member 3 and the surface contouring member 4 will be described. The positioning member 3 and the surface contouring member 4 differ only in whether they are capable of linear movement relative to the common substrate 2; otherwise, they have the same construction. Therefore, in the following description, the construction of the positioning member 3 and the surface contouring member 4 will be described together with reference numerals in the accompanying drawings.

[0036] The positioning component 3 and the surface contouring component 4 each have a base 31, 41, a support plate 32, 42, an abutment 33, 43, a rotating mechanism 34, 44, and a sliding part 35, 45.

[0037] Bases 31 and 41 are where the positioning member 3 and the surface contouring member 4 are mounted on the common substrate 2. When viewed from the Z direction, bases 31 and 41 are formed into a generally quadrilateral shape and are arranged generally parallel to the mounting side 21 of the common substrate 2.

[0038] Support plates 32 and 42 are the parts that support the abutment parts 33 and 43. For example... Figure 1 as well as Figure 3 As shown, in the initial state where the workpiece receiving support device 1 has not yet started to support the workpiece, the support plate portions 32 and 42 extend from the ends of the base portions 31 and 41 in the Y2 direction along the Z2 direction perpendicular to the base portions 31 and 41.

[0039] The contact portions 33 and 43 are the parts that abut against, attract, and support the workpiece. In the initial state of the workpiece receiving and supporting device 1, the contact portions 33 and 43 are rectangular in shape on the side of the support plate portions 32 and 42 facing the Y1 direction. Figure 3 As shown, the abutting portions 33 and 43 are bent along the X direction in a manner that slightly protrudes in the Y1 direction. The abutting portions 33 and 43 are not bent in the Z direction.

[0040] The contact portions 33 and 43 of this embodiment have magnets that attract metal workpieces using magnetic force. The contact portions 33 and 43 themselves may be formed of magnets, or magnets may be disposed inside the contact portions 33 and 43. As the magnets, electromagnets that generate magnetic force when energized during workpiece attraction can be used.

[0041] Rotation mechanism sections 34 and 44 are located at the center of base sections 31 and 41. Each rotation mechanism section 34 and 44 includes: rotating circular plates 341 and 441, which are configured to rotate freely at any angle around axes C1 and C2 relative to base sections 31 and 41; and fixing plates 342 and 442, which are fixed to the upper surface of the rotating circular plates 341 and 441 (the side opposite to the support plate sections 32 and 42, facing the Z1 direction). The fixing plates 342 and 442 are respectively used to fix the positioning member 3 and the surface contouring member 4 to the common base plate 2. The fixing plates 342 and 442 are integral with the rotating circular plates 341 and 441 and can rotate around axes C1 and C2 relative to base sections 31 and 41.

[0042] Sliding portions 35 and 45 are respectively disposed on both sides of the workpiece receiving support device 1 of the abutment portions 33 and 43 in the width direction (X direction). Specifically, support plates 36 and 46 are mounted on the lower end faces 321 and 421 (the end faces opposite to the common base plate 2, facing the Z2 direction) of the support plate portions 32 and 42 of the positioning member 3 and the surface contouring member 4 to support the sliding portions 35 and 45. The support plates 36 and 46 have widths (widths along the X direction) extending from both sides of the support plate portions 32 and 42, respectively. The sliding portions 35 and 45 are disposed on the protrusions 361 and 461 of the support plates 36 and 46, which extend from both sides of the support plate portions 32 and 42, respectively.

[0043] In this embodiment, the sliding portions 35 and 45 are composed of rollers 351 and 451, which serve as rotating members. The rollers 351 and 451 are mounted so as to be able to rotate about rotation axes 352 and 452 extending from the protrusions 361 and 461 in the Z1 direction. Figure 3 as well as Figure 4 As shown, the outer diameters of rollers 351 and 451 are set to protrude from the peripheries of the protrusions 361 and 461 toward the side of the positioning member 3 in the X direction and the surface contouring member 4 in the Y1 direction, respectively. Therefore, when the workpiece approaches the support plates 36 and 46, the workpiece contacts the rollers 351 and 451 but not the support plates 36 and 46. After the rollers 351 and 451 contact the workpiece, they can easily rotate as they move relative to the workpiece. Therefore, the relative position of the surface contouring member 4 and the workpiece can be smoothly changed by utilizing the rotation of the rollers 351 and 451.

[0044] Support plates 36 and 46 are fixed to the lower end faces 321 and 421 of support plate portions 32 and 42 using fixing screws 363 and 463 through holes 362 and 462. For example... Figure 3 As shown, the screw through holes 362 and 462 are elongated holes in the Y direction when the workpiece is initially supported by the support device 1. Therefore, the positions of the support plates 36 and 46 relative to the support plate portions 32 and 42 in the Y direction can be adjusted. As a result, the positioning member 3 and the surface contouring member 4 can adjust the optimal positions of the sliding portions 35 and 45 relative to the abutting portions 33 and 43 according to the size, curvature, and other conditions of the workpiece to be supported.

[0045] Next, the fixing structures of the positioning member 3 and the surface contouring member 4 relative to the common substrate 2 will be described.

[0046] The positioning member 3 is fixed to the common base plate 2 via the fixing plate 342. For example... Figures 1-3As shown, a pair of parallel mounting arms 22, 22 extending along the Y direction are provided on the mounting side 21 of the common substrate 2. The spacing between the mounting arms 22, 22 is equal to the width of the fixing plate 342. Figure 1 As shown, the mounting arms 22, 22 have extension portions 221, 221 that extend along the Y1 direction relative to the common substrate 2. The fixing plate 342 of the positioning member 3 is fixed by screws or the like while being held by the pair of extension portions 221, 221. Thus, the positioning member 3 is configured such that the base 31 protrudes substantially entirely from the common substrate 2 in the Y1 direction relative to the common substrate 2, and in this position, it can be rotated about the axis C1 using the rotating mechanism 34.

[0047] The surface contouring member 4 is fixed to the common base plate 2 by means of a fixing plate 442. For example... Figure 2 as well as Figure 3 As shown, a pair of parallel guide rails 23, 23 extending along the Y direction are provided on the mounting side 21 of the common substrate 2. Sliding arms 24, 24 are respectively housed in the guide rails 23, 23 in a manner that allows them to slide along the Y direction. The spacing between the sliding arms 24, 24 is equal to the width of the fixing plate 442. The fixing plate 442 of the surface contouring member 4 is fixed by screws or the like while being held by the pair of sliding arms 24, 24. Thus, the surface contouring member 4 can move linearly along the guide rails 23, 23 parallel to the Y direction relative to the common substrate 2, and can rotate about the axis C2 using the rotating mechanism 44.

[0048] like Figure 3 As shown, a guide rod 443 extending along the Y2 direction and parallel to the mounting side 21 of the common substrate 2 is provided at the end of the fixing plate 442 of the surface contouring member 4. Figure 3 As shown, on the mounting side 21, there is a guide tube portion 25 between a pair of guide rails 23, 23 through which the guide rod 443 passes. The guide tube portion 25 is fixed to the mounting side 21 along the Y direction by means of a mounting block 251 provided at the end on the Y2 direction side.

[0049] A helical spring 252 is provided between the fixing plate 442 and the mounting block 251. The helical spring 252 is disposed on the outer periphery of the guide rod 443 and the guide cylinder portion 25, and always applies a force to the fixing plate 442 in a direction away from the mounting block 251. Therefore, as Figure 1 as well as Figure 3 As shown, in the initial state of the workpiece receiving support device 1 without supporting the workpiece, the surface contouring member 4 is positioned at its maximum protrusion relative to the common base plate 2 in the Y1 direction due to the force of the helical spring 252. By compressing the helical spring 252 from this position, the surface contouring member 4 can move further linearly in the Y2 direction.

[0050] Furthermore, the surface contouring member 4, which protrudes to its maximum extent in the Y1 direction due to the force of the helical spring 252, is positioned slightly backward of the positioning member 3 toward the common base plate 2. That is, in the initial state of the workpiece receiving support device 1 without supporting the workpiece, the positioning member 3 protrudes most in the Y1 direction relative to the positions of the positioning member 3 and the surface contouring member 4 along the Y direction.

[0051] Next, refer to Figures 5-11 This describes the action of supporting the first workpiece W1 and the second workpiece W2, which have different curvatures, sequentially through the repeated movements of the workpiece receiving support device 1.

[0052] Figure 5 The first workpiece W1 and the second workpiece W2 shown are both metal sheets that are curved in an arc shape. The curvature of the first workpiece W1 is greater than that of the second workpiece W2. Therefore, the first workpiece W1 and the second workpiece W2 each have different non-straight planes. The first workpiece W1 and the second workpiece W2 have their concave curved surfaces W1a and W2a facing the workpiece receiving support device 1, respectively, and are arranged on the workpiece mounting part 100 in the order of the first workpiece W1 and the second workpiece W2, starting from the side closest to the workpiece receiving support device 1.

[0053] like Figure 1 as well as Figure 3 As shown, the workpiece receiving support device 1 is in its initial state before initially supporting the first workpiece W1. Therefore, the surface contouring members 4, 4 are positioned protruding in the Y1 direction relative to the common base plate 2 due to the force of the helical spring 252. In the initial state, the abutting portion 33 of the positioning member 3 and the abutting portion 43 of the surface contouring member 4 both face the Y1 direction in a manner that they face the first workpiece W1.

[0054] like Figure 6 As shown, the workpiece receiving and supporting device 1 moves linearly toward the first workpiece W1 in the Y1 direction using a robot arm, crane, etc. (not shown). At this time, the central positioning member 3 approaches the top of the central part of the first workpiece W1 from the concave curved surface W1a side, and the surface contouring members 4, 4 approach the two ends of the first workpiece W1 from the concave curved surface W1a side. Since the first workpiece W1 is curved to a large extent in an arc shape, the sliding parts 45, 45 of the surface contouring members 4, 4 of the workpiece receiving and supporting device 1, which are located on the outer side (opposite to the positioning member 3), first contact the concave curved surface W1a of the first workpiece W1.

[0055] like Figure 4As shown, the sliding part 45 is composed of a rotatable roller 451. Therefore, after the sliding parts 45, 45 of the surface contouring members 4, 4 respectively contact the concave surface W1a of the first workpiece W1, when the workpiece receiving support device 1 moves further in the Y1 direction, the sliding parts 45, 45 smoothly slide (rotate) towards the two ends in the width direction (X direction) of the first workpiece W1 by following the rotation of the rollers 451, 451. As a result, the surface contouring members 4, 4 rotate around the axis C2 (see reference 44) using the rotation mechanism 44. Figure 1 The parts 43 and 43 rotate and move so that the abutting parts 43 and 43 are opposite to the concave curved surface W1a. At the same time, the surface contouring members 4 and 4 are pressed by the first workpiece W1, which compresses the helical springs 252 and 252, and they gradually move linearly in the Y2 direction along the guide rails 23 and 23.

[0056] like Figure 7 as well as Figure 8 As shown, when the abutting portion 33 of the positioning member 3 abuts against the concave surface W1a of the first workpiece W1, the position of the workpiece receiving support device 1 relative to the first workpiece W1 is determined. At this time, the surface contouring members 4 and 4 follow the concave surface W1a of the first workpiece W1 and rotate approximately 45° in opposite directions relative to their initial state. Therefore, the abutting portions 43 and 43 of the surface contouring members 4 and 4 also abut against the concave surface W1a. The first workpiece W1, which abuts against each of the abutting portions 33, 43, and 43, is attracted to the abutting portions 33, 43, and 43 under the action of the magnetic force generated by the energization and is supported. Afterward, the workpiece receiving support device 1 is moved by the action of a robot arm, crane, etc., thereby transporting the first workpiece W1 to a predetermined location.

[0057] After the first workpiece W1 is transported, the workpiece receiving and supporting device 1 returns to the workpiece mounting section 100 for repeated operation, and then the supporting operation for the second workpiece W2 is performed. At this time, as Figure 9 As shown, the surface contouring members 4 and 4 of the workpiece receiving support device 1 return to their initial position, protruding to the maximum extent in the Y1 direction, due to the force of the helical springs 252 and 252. However, the surface contouring members 4 and 4 maintain a state in which they have rotated and moved approximately 45° in opposite directions relative to their initial state, following the curved surface of the first workpiece W1 that was initially supported. Since the curvature of the second workpiece W2 is smaller than that of the first workpiece W1, therefore... Figure 10 As shown, when the workpiece receiving support device 1 moves toward the second workpiece W2, the sliding parts 45 and 45 arranged on the side of the positioning member 3 in the surface contouring members 4 and 4 are the first to contact the concave curved surface W2a of the second workpiece W2.

[0058] After the sliding portions 45 and 45 disposed on the side of the positioning member 3 in the surface contouring members 4 and 4 respectively come into contact with the concave curved surface W2a of the second workpiece W2, when the workpiece receiving support device 1 moves further in the Y1 direction, the sliding portions 45 and 45 follow the concave curved surface W2a of the second workpiece W2 by means of the rotation of the rollers 451 and 451 and slide (rotate) smoothly toward the center of the second workpiece W2 in the width direction (X direction). As a result, the surface contouring members 4 and 4 rotate around the axis C2 (refer to) by means of the rotating mechanism 44. Figure 1 The parts rotate and move so that the abutting parts 43, 43 are opposite to the concave surface W2a. Simultaneously, the surface-contouring components 4, 4 are pressed by the second workpiece W2, causing the helical springs 252, 252 to compress and gradually move linearly along the guide rails 23, 23 in the Y2 direction. Therefore, as... Figure 11 As shown, when the abutting part 33 of the positioning member 3 abuts against the concave curved surface W2a of the second workpiece W2, the surface contouring members 4 and 4 can also make the abutting parts 43 and 43 abut against the concave curved surface W2a.

[0059] Therefore, even when the workpiece receiving and supporting device 1 abuts against and supports a second workpiece W2, which has a curvature different from that of the first workpiece W1, after the first workpiece W1, the surface conforming members 4, 4 can rotate and move smoothly, so that each abutting part 43, 43 faces the concave curved surface W2a of the second workpiece W2. Therefore, even when the workpiece receiving and supporting device 1 repeatedly abuts against and supports multiple workpieces with various different non-flat planes in sequence, it can support each workpiece more reliably.

[0060] Furthermore, during the support operation of the first workpiece W1 and the second workpiece W2 as described above, the positioning member 3 does not rotate because it abuts against the central portion of each workpiece W1 and W2. However, the positioning member 3 can also allow the sliding portion 35 to smoothly slide (rotate) following the surface of the workpiece according to its curvature, shape, etc., thereby rotating around the axis C1 (see reference 4) in the same way as the surface contouring member 4. Figure 1 Rotate and move.

[0061] In the workpiece receiving and supporting device 1, the sliding parts 35 and 45 of the positioning member 3 and the surface conforming member 4 are only required to be configured to slide along the surface of the workpiece when in contact with it, and are not limited to being rollers 351 and 451. The sliding parts 35 and 45 may also be composed of members 353 and 453 that are easy to slide relative to the workpiece.

[0062] like Figure 12As shown, the contact surfaces of the sliding portions 35 and 45, which are composed of sliding components 353 and 453, and which abut against the workpiece, are formed into smooth curved surfaces, for example, by resin materials with low sliding resistance such as PTFE (polytetrafluoroethylene), POM (polyacetal), PA (polyamide), and PPS (polyphenylene sulfide). Furthermore, the sliding portions 35 and 45, composed of sliding components 353 and 453, can be formed either by covering the surface of a suitable metal or resin with the aforementioned resin material with low sliding resistance, or by mirror-finishing the metal surface.

[0063] When a workpiece supported by support device 1 is held or supported by other devices at its destination, such as Figure 13 As shown, the abutting portions 33 and 43 of the positioning member 3 and the surface contouring member 4 may also have one or more suction cups 331 and 431 that use negative pressure to adsorb and support the workpiece.

[0064] In addition, although not shown in the figure, the abutting parts 33 and 43 of the positioning member 3 and the surface contouring member 4 can also be configured to have multiple suction holes, and to suction and adsorb the workpiece and support it by suctioning air through the suction holes.

[0065] In the workpiece receiving support device 1, the surface contouring member 4 can also be configured to adjust the position of the common substrate 2 in the width direction (X direction) so as to be positioned optimally according to the size, curvature and other conditions of the workpiece.

[0066] In the workpiece receiving support device 1, the positioning member 3 is not limited to being unable to move linearly in the Y direction relative to the common substrate 2, but can also be configured to be able to move linearly in the Y direction relative to the common substrate 2 in the same way as the surface contouring member 4.

[0067] The workpiece supported by the workpiece receiving support device 1 is not limited to metal; it can also be a non-metallic workpiece such as a glass plate. When supporting a non-metallic workpiece, each abutment part 33 and 43 is configured to use a suction cup or negative pressure suction to adsorb and support the workpiece.

[0068] Furthermore, the workpiece supported by the workpiece receiving support device 1 is not limited to workpieces with a single curved surface like the first workpiece W1 and the second workpiece W2. Any workpiece supported by the workpiece receiving support device 1 can have at least one of the following shapes on its surface: a curved surface, an inclined surface formed by the intersection of multiple flat surfaces.

Claims

1. A workpiece receiving and supporting device which sequentially abuts against a plurality of different non-flat surfaces of a plurality of workpieces having the non-flat surfaces and is capable of sequentially supporting the workpieces, wherein the workpiece receiving and supporting device has: at least one positioning member which abuts against and positions the workpieces with respect to the workpieces; and a plurality of surface following members which abut against the workpieces positioned by the positioning member and are configured to follow rotational movement and linear movement of surfaces of the workpieces, the positioning member and the surface following members have an abutting portion which abuts against and supports the workpieces and a sliding portion which is located on both sides of the abutting portion and is capable of sliding while following the surfaces of the workpieces when in contact with the workpieces, and the surface following members are configured to rotate by the sliding portion sliding while following the surfaces of the workpieces so that the abutting portion opposes the surfaces of the workpieces.

2. The workpiece receiving and supporting device according to claim 1, wherein the sliding portion is configured by a rotating member which is capable of rotating by being in contact with the workpieces.

3. The workpiece receiving and supporting device according to claim 1, wherein the sliding portion is configured by a member which has a slippery property with respect to the workpieces.

4. The workpiece receiving and supporting device according to any one of claims 1 to 3, wherein the abutting portion has a magnet which adsorbs the workpieces by magnetic force.

5. The workpiece receiving and supporting device according to any one of claims 1 to 3, wherein the abutting portion has a suction cup which adsorbs the workpieces by negative pressure. ​ ​ ​ ​ ​ ​ ​ ​ ​

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