Single sheet picking device

Abstract

The single-sheet picking device (10) comprises: a base frame (20) arranged near a stacking area (TA) and extending in the vertical direction; a separation unit (26) which separates the top workpiece (W) from a plurality of workpieces (W) stacked in the stacking area (TA) by using at least one of the jet pressure and the suction force of air; and a balancer (52) which reduces the weight acting on the separation unit (26). The separation unit (26) is arranged on the base frame (20) so as to be able to be raised and lowered. The separation unit (26) has an abutting part (32) that abuts against the surface of the top workpiece (W). The separation unit (26) is configured to rise following the lifting action of the workpiece suction part (18) when the workpiece suction part (18) sucks the workpiece (W) from the surface of the top workpiece (W) and lifts the workpiece (W), and retreat from above the stacking area (TA).

Description

Technical Field

[0001] The present invention relates to a single-sheet lifter for individually picking up the uppermost workpiece among a plurality of workpieces (sheet metals) stacked in a stacking area. Background Art

[0002] When a loading device such as a feeding robot sequentially feeds multiple workpieces stacked in a stacking area to a processing machine such as a press brake, a magnetic float is used near the stacking area. The magnetic float uses magnetic force to lift the uppermost workpieces stacked in the stacking area, making it easier to separate the topmost workpiece (see Patent Document 1 below). If the workpieces are non-magnetic, magnetic force cannot lift them, making it difficult to separate only the topmost workpiece using the workpiece suction unit of the loading device.

[0003] Sometimes, an air separator arranged near the stacking area is also used. The air separator uses the jet pressure of air to separate the top workpiece from the multiple workpieces stacked in the stacking area (refer to the following patent document 2). The air separator includes a base frame arranged near the stacking area and extending in the up-down direction and a separation unit arranged on the base frame so as to be liftable. The top workpiece is separated from the other workpieces by the pressure of the air ejected from the separation unit. The separation unit includes an abutting part that abuts against the surface of the top workpiece and a nozzle that sprays air toward the end edge of the top workpiece. When the workpiece adsorption part of the loading device adsorbs the surface of the top workpiece and lifts the workpiece, the separation unit rises following the lifting action of the workpiece adsorption part and retreats from above the stacking area. When the separation unit retreats from above the stacking area and falls due to its own weight, it returns to a position above the multiple workpieces stacked in the stacking area.

[0004] In addition to Patent Documents 1 and 2, the following Patent Document 3 also discloses a technique related to the present invention. Patent Document 3 relates to an improvement in a workpiece suction portion.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Laid-Open No. 2016-112608

[0008] Patent Document 2: Japanese Patent Application Laid-Open No. 2017-149496

[0009] Patent Document 3: Japanese Patent Application Laid-Open No. 2017-124469 Summary of the Invention

[0010] When an air separator is used, the weight of the separation unit increases. When the separation unit is heavy, the impact of the falling separation unit may damage the workpieces stacked in the stacking area. Furthermore, when the workpieces have low rigidity, the workpiece suction unit may lift the top workpiece, causing the edge of the workpiece to bend and plastically deform due to air pressure. Improvements to the air separator are desired to prevent damage to the workpiece while stably lifting the top workpiece.

[0011] An object of the present invention is to provide a single-sheet picking device that can stably lift the uppermost workpiece while preventing the workpiece from being damaged.

[0012] One embodiment of the present invention provides a single-sheet picking device, which comprises: a base frame, which is arranged near a stacking area and extends in an up-down direction; a separation unit, which is provided on the above-mentioned base frame so as to be able to be raised and lowered (movable in an up-down direction), and has an abutment part that abuts against the surface of the top workpiece among a plurality of workpieces stacked in the above-mentioned stacking area, and is constructed so that when a workpiece adsorption part of a loading device adsorbs on the surface of the top workpiece to lift the workpiece, the abutment part rises following the lifting action (rising action) of the above-mentioned workpiece adsorption part, retreats from above the above-mentioned stacking area, and uses at least one of the injection pressure and adsorption force of the air to separate the top workpiece from the other workpieces; and a balancer, which reduces the weight acting on the above-mentioned separation unit.

[0013] The single-sheet pickup device may further include: a first rotating wheel rotatably mounted on the base frame; a second rotating wheel rotatably and liftably mounted on the base frame; and a linear or belt-shaped connecting member, one end of which is connected to the separation unit and the other end of which is connected to the base frame, and which is hung around the first rotating wheel and is also hung around the second rotating wheel in a manner that suspends the second rotating wheel. In this case, the balancer applies a downward force to the second rotating wheel.

[0014] The separation unit may also include a bellows-type suction pad that sucks the surface near the end edge of the uppermost workpiece. In this case, the separation unit is configured so that when the suction pad performs a suction operation while the contact member is in contact with the surface of the uppermost workpiece, the end edge of the uppermost workpiece is lifted up using the contact member as a fulcrum. Furthermore, the separation unit may include a nozzle that sprays air toward the end edge of the uppermost workpiece.

[0015] The single sheet pickup device may further include an auxiliary unit that assists the separation unit in its falling motion (descending motion) due to its own weight when withdrawing from the upper side of the stacking area. In addition, the contact member may be a contact roller that is rotatable around a horizontal rotation axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a front view of the stacking area and its surroundings including the single-sheet pickup device of this embodiment.

[0017] Figure 2 It is a top view of the surrounding area of ​​the above-mentioned stacking area.

[0018] Figure 3 It is a front view of the above-mentioned single-sheet picking device.

[0019] Figure 4 It is a left side view of the single sheet picking device.

[0020] Figure 5 It is a rear view of the single sheet picking device.

[0021] Figure 6 It is a top view of the above-mentioned single-sheet picking device.

[0022] Figure 7A It is a diagram for explaining the operation of the single-sheet pickup device (a state in which the end edge of the upper workpiece is rolled up).

[0023] Figure 7B It is a diagram for explaining the operation of the single-sheet pickup device (a state in which the separation unit is retracted from above the stacking area).

[0024] Figure 7C This is a diagram for explaining the operation of the single-sheet pickup device (a state in which the operating rod presses the front end of the swing lever from below).

[0025] Figure 8 It is a front view of a single-sheet pickup device according to a modified example (a state in which the second front end portion of the operating link presses the unit body from the right). DETAILED DESCRIPTION

[0026] Hereinafter, the single sheet pickup device 10 according to the embodiment will be described with reference to the drawings.

[0027] The "stacking area" is a three-dimensional area for stacking multiple workpieces (metal plates). "FF," "FR," "L," "R," "U," and "D" in the drawings represent front, back, left, right, top, and bottom, respectively.

[0028] like Figure 1 and Figure 2As shown, the single-sheet pickup device 10 is a device for lifting only the top workpiece W from among multiple plate-shaped workpieces W stacked on a pallet P located in the stacking area TA. The single-sheet pickup device 10 is installed on an L-shaped installation table 12 located near the stacking area TA, located to the right of the stacking area TA. The single-sheet pickup device 10 is a type of air separator that uses air jet pressure to separate the top workpiece W. The single-sheet pickup device 10 is used when a supply robot 14 sequentially supplies multiple workpieces W stacked on the pallet P in the stacking area TA to a bending machine (not shown).

[0029] The supply robot 14 is a type of loading device that supplies workpieces W to the press brake. The supply robot 14 has the structure disclosed in Patent Document 3, for example. The supply robot 14 has a multi-jointed robot arm 16 and a robot arm 18 mounted on the front end of the robot arm 16, which serves as a workpiece suction lifter for sucking the workpieces W. The press brake is a processing machine that performs bending processing on the workpieces W and is located behind the stacking area TA. On the right side of the stacking area TA, in addition to the single-sheet pickup device 10, a two-sheet pickup detection device (not shown) is also provided. The two-sheet pickup detection device detects whether the robot arm 18 has sucked two or more workpieces W.

[0030] like Figures 3 to 6 As shown, the single-sheet pickup device 10 includes a base frame 20 disposed on a mounting table 12. The base frame 20 extends vertically. The base frame 20 includes a pair of support plates 22 spaced apart and opposed in the front-to-back direction, and a plurality of spacers 24 connecting the two support plates 22. Each support plate 22 is formed with a first long guide hole 22h extending vertically. The upper portion of the first long guide hole 22h is curved away from the stacking area TA. A second long guide hole 22v extending vertically is formed to the right of the first long guide hole 22h.

[0031] The base frame 20 is provided with a separation unit 26 that is movable in the vertical direction. The separation unit 26 separates the uppermost workpiece W from the other workpieces W by air jet pressure and suction force. The specific structure of the separation unit 26 will be described below.

[0032] The separation unit 26 includes a unit body 28 mounted on the base frame 20 in a liftable manner. The unit body 28 protrudes from the base frame 20 in a cantilevered manner. Two pairs of flanged guide rollers 30 are mounted at the base end of the unit body 28 so as to be rotatable about their horizontal rotation axes. The guide rollers 30 in each pair are spaced apart and opposed in the front-to-back direction. Each guide roller 30 is guided and supported by the first guide slot 22h.

[0033] A contact roller 32, serving as an abutment member that contacts the surface of the uppermost workpiece W from above, is provided at the front end of the unit body 28 via a pair of brackets 34. The contact roller 32 is rotatable about its horizontal axis of rotation and is made of an elastomer such as polyurethane. A nozzle 36 is provided near the base end of the unit body 28 for spraying air toward the edge of the uppermost workpiece W. The nozzle 36 is connected to an air supply source (not shown), such as a supply pump, that supplies air.

[0034] A bellows-type suction pad 38 is provided in the middle portion of the unit body 28 for sucking the surface near the end edge of the uppermost workpiece W from above. The suction pad 38 is connected to an air suction source (not shown) such as a vacuum pump for sucking air. The suction pad 38 abuts against the surface of the uppermost workpiece W that is located in front of the abutting roller 32. The separation unit 26 is configured so that when the suction pad 38 is performed while the abutting roller 32 abuts against the surface of the uppermost workpiece W, the end edge of the uppermost workpiece W is rolled up [lifted up the edge of the workpiece W] with the abutting roller 32 as a fulcrum (see FIG. 2 ). Figure 7A ).

[0035] The separation unit 26 is configured to rise following the lifting motion (ascending motion) of the robot 18 when the robot 18 lifts the top workpiece W, and to retract from above the stacking area TA. Furthermore, when the separation unit 26, having retreated from above the stacking area TA, falls under its own weight, it returns to a position above the plurality of workpieces W stacked in the stacking area TA via the pallets P.

[0036] In addition, either the nozzle 36 or the suction pad 38 may be omitted from the separation unit 26. In this case, the separation unit 26 separates the uppermost workpiece W from the other workpieces W using either the jet pressure of air or the suction force.

[0037] A first sprocket 40, serving as a rotating wheel, is disposed above the pair of support plates 22, rotatably about its horizontal rotation axis. Each end of the rotation axis 42 of the first sprocket 40 is rotatably supported on the upper portion of the support plate 22 via a support ring 44. The first sprocket 40 cannot be raised or lowered relative to the support plate 22. Furthermore, a second sprocket 46, serving as a second rotating wheel, is disposed to the right of the first sprocket 40 on the base frame 20, rotatably about its horizontal rotation axis. Each end of the rotation axis 48 of the second sprocket 46 is rotatably and liftably supported in the second guide slot 22v of the support plate 22.

[0038] A connecting chain 50, serving as a linear connecting member, is provided between the pair of support plates 22. One end of the connecting chain 50 is connected to the base end of the separation unit 26. The other end of the connecting chain 50 is connected to the upper right portion of the base frame 20. Near one end of the connecting chain 50 is looped around the first sprocket 40. Near the other end of the connecting chain 50 is looped around the second sprocket 46 so as to suspend the second sprocket 46.

[0039] Instead of using the first sprocket 40 and the second sprocket 46 as the first and second rotating wheels, a first pulley (not shown) and a second pulley (not shown) may be used as the first and second rotating wheels. In this case, a connecting belt (not shown) is used as the belt-shaped connecting member instead of the connecting chain 50 as the linear connecting member.

[0040] A balancer 52 is provided at each end of the rotation shaft 48 of the second sprocket 46 to reduce the weight acting on the separation unit 26. Each balancer 52 has a plurality of weights 54 that apply gravity as a downward force to the second sprocket 46. The balancer 52 is configured to be non-rotatable relative to the support plate 22. In other words, the balancer 52 is configured to be relatively rotatable relative to the rotation shaft 48 of the second sprocket 46.

[0041] Instead of the balancer 52 having the plurality of weights 54, a coil spring (not shown) that applies a downward force to the second sprocket 46 may be used as another balancer for reducing the weight acting on the separation unit 26. In this case, the coil spring is provided between each end of the rotating shaft 48 of the second sprocket 46 and the support plate 22.

[0042] The single-sheet pickup device 10 includes an assisting unit 56 that assists the separation unit 26 in falling down (descending) due to its own weight after withdrawing from above the stacking area TA.

[0043] The base end of a swing lever 58 is integrally connected to one end of the rotating shaft 42 of the first sprocket 40. An air cylinder 60, serving as an auxiliary actuator, is mounted on the front support plate 22 via a bracket 62. The air cylinder 60 includes an actuating rod 64 that can move vertically. The auxiliary unit 56 is configured so that when the air cylinder 60 is driven, causing the actuating rod 64 to push the distal end of the swing lever 58 from below, a force is applied to the first sprocket 40 to promote the lowering of the separation unit 26.

[0044] Next, the operation and effects of the single-sheet pickup device 10 will be described.

[0045] (Overall Operation of the Single Sheet Picking Device 10 and the Supply Robot 14)

[0046] like Figure 1 and Figure 7A As shown, by lowering the robot 18 in the stacking area TA, the robot 18 is used to suck the surface of the uppermost workpiece W. Then, with the contact roller 32 in contact with the surface of the uppermost workpiece W, the suction pad 38 is operated to suck the uppermost workpiece W, thereby rolling up the end edge of the uppermost workpiece W with the contact roller 32 as a fulcrum. In addition, air is ejected from the nozzle 36 toward the end edge of the uppermost workpiece W. As a result, the uppermost workpiece W is separated from the other workpieces W by the ejection pressure and the suction force of the air, and only the uppermost workpiece W can be easily lifted by the robot 18. After the uppermost workpiece W is lifted, the suction action of the suction pad 38 and the ejection of air from the nozzle 36 are stopped.

[0047] like Figure 7B As shown, when the robot arm 18 is raised to lift the top workpiece W, the separating unit 26 also rises following the lifting action of the robot arm 18 and is guided by the first long guide hole 22h to retreat from above the stacking area TA. As a result, the workpiece W held by the robot arm 18 of the supply robot 14 can be supplied to the bending machine without being obstructed by the separating unit 26.

[0048] After the separation unit 26 retreats from above the stacking area TA, Figure 7C As shown, the operating rod 64 is driven by the air cylinder 60 to press the front end of the swing lever 58 from below. As a result, a rotational force is applied to the first sprocket 40, which causes the separation unit 26 to fall. The separation unit 26 falls due to its own weight and returns to a position above the multiple workpieces W stacked in the stacking area TA.

[0049] By repeating the above-described operation, the plurality of workpieces W stacked in the stacking area TA can be sequentially supplied to the bending machine by the supply robot 14 .

[0050] (Unique Effects of Single-Sheet Pickup Device 10)

[0051] The separation unit 26 is configured to roll up the end edge of the top workpiece W using the contact roller 32 as a fulcrum when the suction pad 38 is performing suction operation while the contact roller 32 is in contact with the surface of the top workpiece W. Therefore, the top workpiece W can be easily separated from the other workpieces W, and only the top workpiece W can be reliably lifted by the robot 18.

[0052] The separation unit 26 uses the jet pressure and suction force of air to separate the top workpiece W from the other workpieces W. Therefore, even if the workpieces W are non-magnetic, the robot 18 can lift only the top workpiece W. In other words, regardless of the material of the workpieces W, the robot 18 can lift only the top workpiece W.

[0053] One end of the connecting chain 50 is connected to the base end of the separation unit 26, and the other end of the connecting chain 50 is connected to the upper right part of the base frame 20. The connecting chain 50 is hung around the first sprocket 40 near one end. The connecting chain 50 is hung around the second sprocket 46 near the other end in a manner that suspends the second sprocket 46. Balancers 52 for reducing the weight acting on the separation unit 26 are provided at each end of the rotating shaft 48 of the second sprocket 46. Therefore, even in the case where the weight of the separation unit 26 is large and the rigidity of the workpiece W is small, the separation unit 26 can be fully supported from below when the uppermost workpiece W is lifted without causing plastic deformation near the end edge of the workpiece W. In addition, even in the case where the weight of the separation unit 26 is large, the impact of the separation unit 26 when it falls can be sufficiently reduced to prevent the workpieces W stacked in the stacking area TA from being damaged.

[0054] Therefore, according to the present embodiment, regardless of the material of the workpiece W and without damaging the workpiece W, only the uppermost workpiece W can be stably lifted by the robot 18 .

[0055] Furthermore, the assist unit 56 assists the separating unit 26 in dropping due to its own weight, thereby enabling the separating unit 26 to reliably return to a position above the plurality of workpieces W stacked in the stacking area TA. Furthermore, the abutment roller 32 is rotatable about its horizontal rotation axis. Therefore, when the robot 18 lifts the workpiece W, even if the end of the workpiece W interferes with the abutment roller 32, the abutment roller 32 will not hinder the lifting of the workpiece W.

[0056] Therefore, according to the present embodiment, the plurality of workpieces W stacked in the stacking area TA can be stably and sequentially supplied to the bending machine by the supply robot 14 .

[0057] (Variation of this embodiment)

[0058] like Figure 8 As shown, the single sheet picking device 10A of the modified example is different from the single sheet picking device 10 (see Figure 3 ) is a device for lifting only the top workpiece W among a plurality of workpieces W stacked on a pallet P located in a stacking area TA. The single sheet picking device 10A is provided with an auxiliary unit 56 (see Figure 3 ) The auxiliary unit 66 has a different structure. The other structures are the same as those of the single-sheet pickup device 10. The specific structure of the auxiliary unit 66 is described below. The same or equivalent structures as those of the single-sheet pickup device 10 are marked with the same reference numerals, and their detailed description is omitted.

[0059] The L-shaped working link 68 is arranged above the second guide long hole 22v of the front support plate 22 in a manner that it can swing around a horizontal swing axis (the axis of the swing shaft 70). On the right side of the second guide long hole 22v, the cylinder 72 serving as an auxiliary driver is installed on the support plate 22 via a bracket 74. The cylinder 72 has a working rod 76 that can move in the up and down directions. A rotatable connecting pin 78 is installed at the front end of the working rod 76. The connecting pin 78 is connected to a long hole (not shown) formed at the first front end (one end) of the working link 68. The auxiliary unit 66 is constructed so that when the second front end (the other end) of the working link 68 pushes the unit main body 28 from the right by the drive of the cylinder 72, a rotational force is applied to the unit main body 28 to promote the falling action of the separation unit 26.

[0060] Therefore, also in the modification of this embodiment, the same effects as those of the above-described present embodiment are achieved.

[0061] In the single-sheet pickup device 10 (10A) of the aforementioned embodiment and modified example, the separation unit 26 is configured to rise and retreat above the stacking area TA following the lifting motion of the robot 18 (workpiece suction unit) when the robot 18 (loading device) suctions the topmost workpiece W to the surface and lifts the workpiece W. Therefore, the workpiece W suctioned to the robot 18 of the supply robot 14 can be supplied to the press brake without being obstructed by the separation unit 26. Since the separation unit 26 does not obstruct the movement of the workpiece W, damage to the workpiece W can be avoided.

[0062] The separation unit 26 also includes a contact roller 32 (a contact member) that contacts the surface of the top workpiece W. Therefore, when separating the top workpiece W using at least one of the air jet pressure and suction force, the end edge of the top workpiece W can be rolled up, making it easier to separate from the other workpieces W, and only the top workpiece W can be reliably and stably lifted. Since the top workpiece W is separated using at least one of the air jet pressure and suction force, even if the workpiece W is non-magnetic, that is, regardless of the material it is made of, only the top workpiece W can be reliably and stably lifted.

[0063] The single-sheet pickup device 10 (10A) also includes a balancer 52 that reduces the weight acting on the separation unit 26. Therefore, when the robot arm 18 lifts the workpiece W, the balancer 52 can reduce the weight of the separation unit 26 acting on the workpiece W, preventing deformation of the low-rigidity workpiece W. Simultaneously, the separation unit 26 can smoothly retract as the workpiece W rises. Furthermore, when the retracted separation unit 26 is dropped back onto the stacked workpieces W, the balancer 52 can also mitigate the falling motion, preventing damage to the workpiece W.

[0064] The single-sheet pickup device 10 (10A) of the above-described embodiment and modified example further includes the above-described first sprocket 40 (first rotating wheel) and second sprocket 46 (second rotating wheel), as well as a linear connecting chain 50 (connecting member). The connecting chain 50 is wound around the first sprocket 40 and the second sprocket 46, and the second sprocket 46 is suspended from the connecting chain 50. The balancer 52 applies a downward force to the second sprocket 46. In this way, the weight of the separation unit 26 can be effectively reduced by the downward force applied to the second sprocket 46. Furthermore, as described above, the first pulley may be used as the first rotating wheel, the second pulley may be used as the second rotating wheel, and a belt-shaped connecting belt may be used as the connecting member.

[0065] Here, the separation unit 26 includes a bellows-type suction pad 38 that sucks the surface near the end edge of the uppermost workpiece W. Therefore, when the suction pad 38 is operated while the contact roller 32 (contact member) is in contact with the surface of the uppermost workpiece W, the end edge of the uppermost workpiece W can be rolled up with the contact roller 32 serving as a fulcrum. In other words, the uppermost workpiece W can be separated more reliably.

[0066] Here, the separation unit 26 includes a nozzle 36 that sprays air toward the edge of the uppermost workpiece W. Therefore, by spraying air from the nozzle 36, the edge of the workpiece can be rolled up using the contact roller 32 as a fulcrum due to the spray pressure. In other words, the uppermost workpiece W can be separated more reliably.

[0067] Furthermore, the single-sheet pickup device 10 (10A) of the above embodiment and the modified example further includes an assisting unit 56 (66) for assisting the falling motion of the withdrawn separating unit 26 due to its own weight. Therefore, the separating unit 26 can be easily and quickly returned to the stacked workpieces W.

[0068] Furthermore, in the single-sheet pickup device 10 (10A) of the above-described embodiment and modified example, the abutment member is a abutment roller 32 that is rotatable about a horizontal rotation axis. When the workpiece W is lifted by the robot 18, even if the workpiece W interferes with the abutment roller 32 located at the front end of the separation unit 26, the rotation of the abutment roller 32 allows the workpiece W to be separated from the abutment roller 32 without being hindered. Therefore, damage to the workpiece W can be prevented, and the supply of the workpiece W is not hindered.

[0069] The present invention is not limited to the above-mentioned embodiments and modifications. For example, in the above-mentioned embodiments and modifications, the uppermost workpiece W is separated from the other workpieces W by using both the air jet pressure and the adsorption force. However, at least one of the air jet pressure (nozzle 36) and the adsorption force (adsorption pad 38) may be used. In addition, an auxiliary unit having an electric motor or a belt mechanism may be used instead of the auxiliary unit 56 (66) having the cylinder 60 (72). In this case, the auxiliary unit assists the falling action of the separation unit 26 caused by its own weight by driving the electric motor or the belt mechanism.

Claims

1. A single sheet picking device, characterized in that: have: a base frame disposed near the stacking area and extending in the up-down direction; a separation unit, the separation unit being movably mounted on the base frame and having a contact member contacting the surface of the top workpiece among the plurality of workpieces stacked in the stacking area, and being configured to follow the lifting action of the workpiece adsorption portion when the workpiece adsorption portion of the loading device adsorbs on the surface of the top workpiece to lift the workpiece, and to retreat from above the stacking area, and to separate the top workpiece from the other workpieces by using at least one of the jet pressure of air and the adsorption force; a balancer that reduces the weight acting on the separation unit; a first rotating wheel rotatably mounted on the base frame; a second rotating wheel, which is rotatable and liftable and is provided on the base frame; as well as A linear or belt-shaped connecting member, one end of which is connected to the separation unit and the other end of which is connected to the base frame, is hung around the first rotating wheel and is hung around the second rotating wheel in a manner of suspending the second rotating wheel. The balancer applies a downward force to the second rotating wheel.

2. The single sheet picking device according to claim 1, characterized in that: The separation unit has a bellows-type adsorption pad that adsorbs the surface near the end edge of the uppermost workpiece, and is constructed so that when the adsorption pad performs an adsorption action in a state in which the abutment part abuts against the surface of the uppermost workpiece, the end edge of the uppermost workpiece is rolled up with the abutment part as a fulcrum.

3. The single sheet picking device according to claim 1 or 2, characterized in that: The separation unit includes a nozzle for spraying air toward an edge of the uppermost workpiece.

4. The single sheet picking device according to claim 1 or 2, characterized in that: An assisting unit is further provided to assist the falling action of the separation unit due to its own weight when the separation unit retreats from above the stacking area.

5. The single sheet picking device according to claim 1 or 2, characterized in that: The contact member is a contact roller that is rotatable about a horizontal rotation axis.

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