Workpiece holding and gripping device for successive contact with several types of different, non-flat surfaces provided on several workpieces and for subsequent holding of the workpieces

Abstract

Workpiece holding and holding device (1) designed to successively contact several types of different non-flat surfaces provided on several workpieces (W1, W2) and subsequently hold the workpieces (W1, W2), wherein the workpiece holding and holding device (1) comprises: at least one positioning element (3) that comes into contact with the workpieces (W1, W2) and positions the workpieces (W1, W2);and several surface simulation elements (4) that come into contact with the workpieces (W1, W2) positioned by the positioning element (3) and are provided such that they are rotatably movable and linearly movable in accordance with the surfaces of the workpieces (W1, W2), wherein each of the at least one positioning element (3) and the several surface simulation elements (4) has at least one contact section (33, 43) that comes into contact with the workpieces (W1, W2) and holds the workpieces (W1, W2), and wherein each of the at least one positioning element (3) and the several surface simulation elements (4) comprises at least one sliding section (35, 45) that is displaceable in accordance with the surfaces of the workpieces (W1, W2) when the sliding section (35, 45) comes into contact with the workpieces (W1, W2) on both sides of the contact section (33, 43).

Description

BACKGROUND OF THE INVENTION Area of ​​the invention

[0001] The present invention relates to a workpiece receiving and holding device. Related technology

[0002] A holding device is conventionally known which suctions and holds a workpiece with a curvature by means of several suction bodies that follow the workpiece and are movably designed (see, for example, the unexamined Japanese patent application Publication No. 2002-321181).

[0003] patent specification 1 Unexamined Japanese patent application, Publication No. 2002-321181 SUMMARY OF THE INVENTION

[0004] When holding a workpiece with a predetermined surface shape, it is necessary to cause each of several suction sections that come into contact with the workpiece to move by means of a rotary mechanism and a linear movement mechanism so that it follows the surface shape of the workpiece, thereby bringing each of the suction sections into close contact with the surface of the workpiece.

[0005] However, the following problems arise when a workpiece with several different types of non-flat surfaces is successively held by a holding device. It should be noted that a workpiece with non-flat surfaces is defined as one with at least one curved surface or an inclined surface where several flat surfaces meet on at least a portion of the surface of the workpiece held by contact with the holding device. A workpiece with non-flat surfaces does not include one with a surface shape formed by the entire surface of the workpiece held by contact with the holding device, or one with only a single flat surface.

[0006] After holding a first workpiece, the arrangement of the multiple suction sections of the holding device is held in a state where it follows the non-flat surfaces of the first workpiece. Therefore, when holding a second workpiece with non-flat surfaces that differ from those of the first workpiece, the same holding device, even if each suction section is pressed against the second workpiece, cannot move every suction section along the non-flat surfaces of the second workpiece after holding the first workpiece, and in some cases, it may not be possible to bring all suction sections into close contact with the surface of the second workpiece.

[0007] Therefore, there is a desire to be able to hold each workpiece more reliably, even when holding workpieces with different non-flat surfaces successively.

[0008] One aspect of the present disclosure relates to a workpiece receiving and holding device designed to successively contact several types of different non-flat surfaces provided on several workpieces and subsequently to hold the workpieces, and comprising: at least one positioning element that comes into contact with the workpieces and positions the workpieces;and several surface simulation elements that come into contact with the workpieces positioned by the positioning element and are provided such that they are rotatably movable and linearly movable according to the surfaces of the workpieces, wherein the positioning element and the surface simulation element comprise at least one contact section that comes into contact with the workpieces and holds the workpieces, and at least one sliding section that is displaceable according to the surfaces of the workpieces when it comes into contact with the workpieces on both sides of the contact section.

[0009] According to one aspect of the present disclosure, it is possible to provide a workpiece holding and gripping device by which each workpiece can be held more reliably, even when successively holding workpieces with different non-flat surfaces. List of characters Fig. Figure 1 is a perspective view showing a workpiece receiving and holding device according to an embodiment of the present disclosure; Fig. Figure 2 is a front view showing the workpiece receiving and holding device according to an embodiment of the present disclosure; Fig. 3 is a view from below showing the workpiece receiving and holding device according to an embodiment of the present disclosure; Fig. Figure 4 is an enlarged view showing a common part of a positioning element and a surface simulation element of the workpiece receiving and holding device according to an embodiment of the present disclosure; Fig. Figure 5 is a perspective view to illustrate a state prior to holding a first workpiece and a second workpiece with different curvatures by the workpiece receiving and holding device according to an embodiment of the present disclosure; Fig. Figure 6 is a view from below showing a state at the beginning of holding a first workpiece by the workpiece receiving and holding device according to an embodiment of the present disclosure; Fig. Figure 7 is a view from below showing a state after the start of holding the first workpiece by the workpiece receiving and holding device according to an embodiment of the present disclosure; Fig. Figure 8 is a perspective view showing a state when the first workpiece is held by the workpiece receiving and holding device according to an embodiment of the present disclosure; Fig. Figure 9 is a view from below showing a state at the beginning of holding a second workpiece with a different curvature after holding the first workpiece by the workpiece receiving and holding device according to an embodiment of the present disclosure; Fig. Figure 10 is a view from below showing the operation of holding the second workpiece with a different curvature after holding the first workpiece by the workpiece receiving and holding device according to an embodiment of the present disclosure; Fig. Figure 11 is a view from below, showing a state of holding the second workpiece with a different curvature after holding the first workpiece by the workpiece receiving and holding device according to an embodiment of the present disclosure; Fig. Figure 12 is an enlarged view showing a common part of a positioning element and a surface simulation element of a workpiece receiving and holding device according to a further embodiment of the present disclosure; and Fig. Figure 13 is a front view showing a workpiece receiving and holding device according to a further embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0010] Below, with reference to the drawings, an embodiment of a workpiece holding and gripping device according to the present disclosure is described. As shown in the Fig. 1 to Fig. 3 shown, includes a workpiece holding and clamping device 1 a positioning element 3 and a surface simulation element 4, which come into contact with and hold a workpiece on a mounting-side surface 21 facing direction Z2 of a common substrate 2, which is made of a rectangular flat plate. The workpiece holding and gripping device 1 is attached to the common substrate 2 at the front end of a (not shown) robot arm or crane. The workpiece holding and gripping device 1 is moved in any direction by actuating the robot arm or crane and, through repeated actuation, moves several workpieces in succession (for example, a first workpiece). W1 and a second workpiece W2 , which will be described later) with several types of different, non-flat surfaces and keeps them in contact.

[0011] It should be noted that among the directions shown in each figure, the X-direction is a direction along the direction of the plane of the common substrate 2 and the direction of the width of the workpiece receiving and holding device. 1 The Y-direction is a direction along the plane of the common substrate 2 and is perpendicular to the X-direction. The Y1 direction indicates the direction in which the workpiece holding and clamping device is located. 1 when holding the workpiece, the device moves towards the workpiece. The direction Y2 indicates the direction in which the workpiece holding and gripping device moves. 1 After the workpiece is released from its holding position, the tool moves away from the workpiece. The Z-direction indicates a direction perpendicular to the common substrate 2. The Z1 direction indicates a direction opposite to the Z2 direction.

[0012] The positioning element 3is an element that is connected to a workpiece (see the first workpiece) W1 and the second workpiece W2 , which in Fig. 5, etc. are shown) comes into contact and holds it, and the position of the workpiece holding and clamping device 1 determined in relation to the workpiece. The positioning element 3 is designed to be fixed in such a way that it is not movable in any direction (X, Y, and Z) with respect to the mounting-side surface 21 of the common substrate 2. The positioning element 3 However, it is rotatable around axis C1 at any angle, depending on the surface shape of the workpiece. Axis C1 is arranged along the Z-direction perpendicular to the mounting-side surface 21 of the common substrate 2.

[0013] Similar to the positioning element 3 is the surface simulation element 4An element that comes into contact with the workpiece and holds it in place. The surface simulation element. 4 is designed such that it is not movable in the X-direction and the Z-direction with respect to the mounting-side surface 21 of the common substrate 2. The surface simulation element 4 However, it is designed to be linearly movable along the Y-direction, and it is designed to be rotatable along the surface shape of the workpiece at any angle about the axis C2. Similar to the axis C1, the axis C2 is arranged along the Z-direction perpendicular to the mounting-side surface 21 of the common substrate 2.

[0014] The workpiece holding and clamping device 1 According to the present embodiment, a positioning element comprises 3 and two surface simulation elements 4 and 4 , which are located on both sides of the positioning element 3are arranged. The positioning element 3 However, it is not limited to one. Two or more positioning elements are possible. 3 between adjacent surface simulation elements 4 and 4 be arranged. In addition, two or more surface simulation elements can be 4 be arranged on one side so that the positioning element 3 is arranged between them.

[0015] Next, a specific setup of the positioning element will be described. 3 and the surface simulation element 4 described. The positioning element 3 and the surface simulation element 4 With the exception of their design, which distinguishes them from one another by their linear movement relative to the common substrate 2, they have the same structure. Therefore, the following description will focus on the structure of the positioning element.3 and the surface simulation element 4 described together with reference symbols.

[0016] The positioning element 3 and the surface simulation element 4 Each includes base sections 31 and 41, retaining plate sections 32 and 42, contact sections 33 and 43 , Rotary mechanism sections 34 and 44 and sliding sections 35 and 45 .

[0017] Base sections 31 and 41 are sections for attaching the positioning element. 3 and the surface simulation element 4 on the common substrate 2. The base sections 31 and 41 are formed in an essentially square shape when viewed in the Z direction and are arranged essentially parallel to the mounting-side surface 21 of the common substrate 2.

[0018] The retaining plate sections 32 and 42 are sections for holding the contact sections. 33 and 43 As in Fig. 1 and Fig. As shown in Figure 3, the retaining plate sections 32 and 42 extend in an initial state in which the workpiece receiving and holding device 1 has not started holding the workpiece, from the end of the base sections 31 and 41 on the side of direction Y2 in the direction Z2 perpendicular to the base sections 31 and 41.

[0019] The contact sections 33 and 43 These are sections that come into contact with the workpiece, suctioning and holding it in place. The contact sections 33 and 43 are in a rectangular shape attached to the workpiece receiving and holding device mentioned above in its initial state 1 The side surfaces of the retaining plate sections 32 and 42 facing direction Y1 are provided. As shown in Fig. Shown in section 3 are the contact sections. 33 and 43 Curved along the X-direction so that they protrude slightly in the Y1 direction. The contact sections 33 and 43 are not curved in the Z direction.

[0020] The contact sections 33 and 43 According to the present embodiment, magnets are included that attract metallic workpieces by means of a magnetic force. The contact sections 33 and 43 They can be formed by magnets themselves, or alternatively, magnets can be placed inside the contact sections. 33 and 43 The magnets must be arranged in a specific manner. An electromagnet can be used as the magnet; this generates a magnetic force when an electric current is applied and the workpiece is attracted to it.

[0021] The rotary mechanism sections 34 and 44 are provided on the central sections of the base sections 31 and 41. The rotary mechanism sections 34 and 44 comprise turntables 341 and 441, which are designed to rotate freely about axes C1 and C2 at any angle relative to the base sections 31 and 41, and mounting plates 342 and 442, which are attached to the top of the turntables 341 and 441 (a surface opposite the retaining plate section 32 and 442, a side surface facing direction Z1). The mounting plates 342 and 442 are sections that each support the positioning element. 3 and the surface simulation element 4 to the common substrate 2. The mounting plates 342 and 442 are formed integrally with the rotary discs 341 and 441 and are rotatable about the axes C1 and C2 with respect to the base sections 31 and 41.

[0022] The sliding sections 35 and 45are on both sides in the direction of the width of the workpiece holding and clamping device 1 (in the X direction) in the contact section 33 and 43 arranged. More precisely, retaining plates 36 and 46, which hold the sliding sections, are 35 and 45 hold, on the lower end faces 321 and 421 (one end face opposite the common substrate 2, the end face facing direction Z2) of the holding plate sections 32 and 42 of the positioning element 3 and the surface simulation element 4 The retaining plates 36 and 46 have a width (the width along the X-direction) by which they project from both sides of the retaining plate sections 32 and 42. The sliding sections 35 and 45 are arranged on the preceding sections 361 and 461 of the retaining plates 36 and 46 each project from both sides of the retaining plate sections 32 and 42.

[0023] The sliding sections 35 and 45 According to the present embodiment, rollers 351 and 451 formed, the rotating elements are. The rollers 351 and 451 are rotatably mounted about pivot axes 352 and 452, which extend from the preceding sections 361 and 461 in the direction Z1. As in Fig. 3 and Fig. Shown in section 4 are the outer diameters of the rollers. 351 and 451 so that they are positioned along the X-direction in the Y1 direction and towards the side of the positioning element. 3 and the surface simulation element 4 from the scope of the preceding sections 361 and 461. Therefore, when the workpiece approaches the holding plates 36 and 46, the workpiece with the rollers 351 and 451 in contact; however, the workpiece does not come into contact with the retaining plates 36 and 46. When the rollers 351 and 451and move the workpiece in relation to each other, after the rollers 351 and 451 have come into contact with the workpiece, the rollers 351 and 451 easily rotatable. Therefore, the relative positions of the surface simulation element change. 4 and of the workpiece by the rotation of the rollers 351 and 451 evenly.

[0024] The retaining plates 36 and 46 are fastened to the lower end faces 321 and 421 of the retaining plate sections 32 and 42 by fastening screws 363 and 463 inserted into the screw insertion openings 362 and 462. As shown in Fig. Figure 3 shows screw insertion openings 362 and 462 as long bores which are present in the initial state of the workpiece holding and clamping device. 1are long in the Y-direction. Therefore, it is possible to adjust the position of the retaining plates 36 and 46 relative to the retaining plate sections 32 and 42 in the Y-direction. This makes it possible to adjust the positioning element. 3 and the surface simulation element 4 The optimal positions of the sliding sections are determined according to conditions such as the size, curvature, etc. of the workpiece to be held. 35 and 45 regarding the contact sections 33 and 43 to adjust.

[0025] Next, the fastening structures of the positioning element will be discussed. 3 and the surface simulation element 4 described in relation to the common substrate 2. The positioning element 3 is attached to the common substrate 2 via a mounting plate 342. As in Fig. 1 to Fig. As shown in Figure 3, a pair of parallel mounting arms 22 and 22, extending along the Y-direction, are provided on the mounting-side surface 21 of the common substrate 2. The distance between the mounting arms 22 and 22 corresponds to the width of the mounting plate 342. As shown in Fig. As shown in Figure 1, the mounting arms 22 and 22 each have extension sections 221 and 221 that extend in the Y1 direction with respect to the common substrate 2. The mounting plate 342 of the positioning element 3 It is fastened by screws or the like in a state where it is positioned between the two extension sections 221 and 221. This secures the positioning element. 3in relation to the common substrate 2 such that essentially the entire base section 31 projects in the direction Y1 from the common substrate 2 and is rotatable about the axis C1 at this position by the rotary mechanism section 34.

[0026] The surface simulation element 4 is attached to the common substrate 2 via a mounting plate 442. As in Fig. 2 and Fig. As shown in Figure 3, a pair of parallel guide rails 23 and 23, extending along the Y-direction, are provided on the mounting-side surface 21 of the common substrate 2. Sliding arm sections 24 and 24 are each slidably mounted on the guide rails 23 and 23 along the Y-direction. The distance between the sliding arm sections 24 and 24 corresponds to the width of the mounting plate 442. The mounting plate 442 of the surface replicating element 4It is fastened by means of screws or the like in a state where it is positioned between the two sliding arm sections 24 and 24. This secures the surface simulation element. 4 with respect to the common substrate 2, linearly movable parallel to the Y-direction along the guide rails 23 and 23, and rotatable about the axis C2 by means of the rotary mechanism section 44.

[0027] As in Fig. Figure 3 shows a guide rod 443 extending in the direction Y2 parallel to the mounting-side surface 21 of the common substrate 2, at the end of the mounting plate 442 on the side in the direction Y2 in the surface replica element 4 planned. As in Fig. As shown in Figure 3, a cylindrical guide section 25, into which the guide rod 443 can be inserted, is provided between the two guide rails 23 and 23 on the mounting-side surface 21. The cylindrical guide section 25 is fastened along the Y-direction to the mounting-side surface 21 by the mounting block 251 provided at the end on the side in the Y2 direction.

[0028] A coil spring 252 is provided between the mounting plate 442 and the mounting block 251. The coil spring 252 is arranged on the outer circumference of the guide rod 443 and the cylindrical guide section 25 and applies a constant preload force to the mounting plate 442 in a direction of distance from the mounting block 251. Therefore, the surface replicating element 4 , as in Fig. 1 and Fig. Figure 3 shows the workpiece holding and clamping device in its initial state. 1, which does not hold a workpiece, is arranged by the preload force of the coil spring 252 with respect to the common substrate 2 at the position projecting furthest in direction Y1. The surface simulation element 4 Furthermore, it is movable linearly in the direction Y2 from its position by compressing the spiral spring 252.

[0029] It should be noted that the surface simulation element 4 , which, due to the preload force of the spiral spring 252, protrudes furthest in the direction Y1, is arranged such that it is further than the positioning element 3 , slightly retracted to the side of the common substrate 2. This means that in the initial state of the workpiece receiving and holding device 1 , which does not hold a workpiece, with respect to the position of the positioning element 3 and the surface simulation element 4 along the Y-direction the positioning element3 protrudes furthest in the direction of Y1.

[0030] Next, with reference to Fig. 5 to Fig. 11. A description of the workflow during the successive holding of the first workpiece. W1 and the second workpiece W2 , which have curved surfaces with different curvatures, through the repeated actuation of the workpiece holding and clamping device 1 The first workpiece W1 and the second workpiece W2 , which in Fig. The images shown in section 5 are both metal sheet materials, curved into an arc shape. The curvature of the first workpiece W1 is stronger than the curvature of the second workpiece W2 Therefore, the first workpiece W1 and the second workpiece W2 different, non-flat surfaces. The first workpiece W1 and the second workpiece W2are from the side near the workpiece holding and clamping device 1 in the order of the first workpiece W1 and the second workpiece W2 arranged on a workpiece placement section 100, wherein concave curved surfaces W1a and W2a are each on the side of the workpiece receiving and holding device 1 are facing each other. The workpiece holding and clamping device 1 is located before the first holding of the first workpiece W1 in an initial state, as in the Fig. 1 and Fig. 3 shown. Therefore, the surface simulation elements are 4 and 4 The contact sections are arranged by the preload force of the spiral spring 252 with respect to the common substrate 2 at positions projecting in the direction Y1. 33 and 43 of the positioning element 3 and the surface simulation element 4In their initial state, they are oriented towards direction Y1 in such a way that they face the first workpiece W1 are facing each other.

[0031] As in Fig. As shown in section 6, the workpiece holding and clamping device is shown. 1 by a robot arm, a crane or the like (not shown) linearly in the Y1 direction towards the first workpiece W1 too far away. At this point, the positioning element is approaching. 3 in the middle of the side of the concavely curved surface W1a of the vicinity of the top of the middle section of the first workpiece W1 , and the surface simulation elements 4 and 4 approaching from the side of the concavely curved surface W1a the vicinity of the two ends of the first workpiece W1 Since the first workpiece W1 which is strongly curved in an arc shape, the workpiece receiving and holding device 1the outer side of the surface simulation elements 4 (i.e., on one of the positioning elements) 3 opposite side) arranged sliding sections 45 and 45 first with the concave curved surface W1a of the first workpiece W1 in contact.

[0032] As in Fig. As shown in 4, the sliding section 45 from the rotating roller 451 formed. Therefore, the sliding sections slide (roll). 45 and 45 by the rotation of the rollers 451 and 451 in the direction of the width (the X-direction) of the concavely curved surface W1a of the first workpiece W1 following evenly to both ends of the first workpiece W1 , if the workpiece holding and clamping device 1 continues moving in the direction Y1 after the glide sections 45 and 45 the surface simulation elements 4 and4 with the concave curved surface W1a of the first workpiece W1 have come into contact. This causes the surface simulation elements to move. 4 and 4 through the rotary mechanism section 44 so that it rotates around the axis C2 (see Fig. 1) Rotate so that the contact sections 43 and 43 are facing the concave surface W1a. At the same time, the surface simulation elements are 4 and 4 against the first workpiece W1 pressed, thereby compressing the spiral springs 252 and 252, and gradually moving linearly along the guide rails 23 and 23 in the direction Y2.

[0033] As in Fig. 7 and Fig. As shown in section 8, the position of the workpiece holding and clamping device is shown. 1 with regard to the first workpiece W1 determined when the contact section 33 of the positioning element 3with the concave curved surface W1a of the first workpiece W1 comes into contact. At this point, the surface simulation elements are 4 and 4 corresponding to the concave curved surface W1a of the first workpiece W1 They are rotated approximately 45 degrees in opposite directions to their initial state. Therefore, the contact sections are also oriented differently. 43 and 43 the surface simulation elements 4 and 4 with the concave surface W1a in contact. The first workpiece W1 , which is the case with each of the contact sections 33 , 43 , and 43 The magnetic force generated by the current transfers the contact sections to the contact sections. 33 , 43 , and 43 pulled on and held in place. Then the first workpiece is attached. W1 by moving the workpiece holding and clamping device 1transported to a predetermined position by the operation of a robot arm, a crane or the like.

[0034] After the transport of the first workpiece has been completed W1 The workpiece holding and clamping device returns 1 for repeated operation, it returns to the workpiece placement section 100 and then performs the holding operation on the second workpiece. W2 off. At this point, the surface simulation elements return. 4 and 4 the workpiece holding and clamping device 1 , as in Fig. 9 shows them returning to the initial position where they protrude furthest in the Y1 direction due to the preload force of the coil springs 252 and 252. The surface simulation elements 4 and 4 However, they retain a state in which they correspond to the curved surface of the initially held first workpiece. W1They are each rotated approximately 45 degrees in opposite directions relative to their initial state. Since the curvature of the second workpiece W2 less than the curvature of the first workpiece W1 is, they are accessed on the side of the positioning element. 3 arranged sliding sections 45 and 45 on the surface simulation elements 4 and 4 first with the concave curved surface W2a of the second workpiece W2 in contact when the workpiece holding and clamping device 1 to the second workpiece W2 is moved, as in Fig. 10 shown.

[0035] If the workpiece holding and clamping device 1 is moved further in the direction Y1 after the positioning element is on the side 3 arranged sliding sections 45 and 45 the surface simulation elements 4 and 4each with the concave curved surface W2a of the second workpiece W2 Once in contact, the sliding sections slide (roll). 45 and 45 by the rotation of the rollers 451 and 451 the concave curved surface W2a of the second workpiece W2 following in the direction of the width of the second workpiece W2 (in the X direction) uniformly towards the central section. This causes the surface simulation elements to move. 4 and 4 by the rotary mechanism 44 so that they rotate around the axis C2 (see Fig. 1) Rotate so that the contact sections 43 and 43 are facing the concave surface W2a. At the same time, the surface simulation elements are 4 and 4 against the second workpiece W2pressed, thereby compressing the coil springs 252 and 252, and gradually moving linearly along the guide rails 23 and 23 in the direction Y2. Therefore, as in Fig. 11 shows the surface simulation elements 4 and 4 also to the fact that the contact sections 43 and 43 come into contact with the concave curved surface W2a when the contact section 33 of the positioning element 3 with the concave curved surface W2a of the second workpiece W2 came into contact.

[0036] Therefore, the workpiece holding and clamping device 1 the surface simulation elements 4 and 4 even then rotate and move evenly to cause contact sections to 43 and 43 the concave curved surface W2a of the second workpiece W2 are facing each other when following the first workpieceW1 the second workpiece W2 , which has a curvature that differs from the curvature of the first workpiece W1 The difference lies in the fact that it is touched and held. Therefore, even when successively touching and holding several workpieces with different types of non-flat surfaces, it is possible to repeatedly operate the workpiece holding device to position each workpiece. 1 to keep more reliably.

[0037] It should be noted that in the process described above, holding the first workpiece W1 and the second workpiece W2 the positioning element 3 is not moved in such a way that it rotates, because the positioning element 3 with the middle section of each of the workpieces W1 , W2 comes into contact. Similar to the surface simulation element. 4 However, the positioning element can also be used.3 depending on the curvature, shape or the like of the workpiece, by uniform sliding (rolling) of the sliding section. 35 according to the surface of the workpiece, it is moved around the axis C1 (see Fig. 1) turns.

[0038] In the workpiece holding and clamping device 1 Is it sufficient if each of the sliding sections 35 and 45 of the positioning element 3 and the surface simulation element 4 It is configured so that it can be moved according to the surface of the workpiece when it is in contact with the workpiece, and therefore there is no limitation to the rollers 351 and 451 formed. The sliding sections 35 and 45 can be from elements 353 and 453 formed with the property of being easily movable in relation to the workpiece.

[0039] The elements 353 and 453 Sliding sections formed with the property of being easily displaceable 35 and 45 They are made, for example, from a resin material with low sliding resistance such as PTFE (polytetrafluoroethylene), POM (polyacetal), PA (polyamide) or PPS (polyphenylene sulfide), so that the contact surface with the workpiece becomes a uniformly curved surface, as in Fig. 12 shown. In addition, the elements 353 and 453 Sliding sections formed with the property of being easily displaceable 35 and 45 by coating the surface of a suitable metal or resin with a resin material described above that has a low sliding resistance, or alternatively by high-gloss polishing of the metal surface.

[0040] If a workpiece is removed from the workpiece holding and clamping device 1When a workpiece is held at a feeding target by a device, the contact sections can 33 and 43 of the positioning element 3 and the surface simulation element 4 one or more vacuum cleaners each 331 and 431 to suction and hold the workpiece by means of negative pressure, as in Fig. 13 shown. In addition, the contact sections can 33 and 43 of the positioning element 3 and the surface simulation element 4 , although this is not shown, have multiple suction openings and are designed to extract and draw in air and to hold the workpiece by extracting air from the suction openings. In the workpiece holding and clamping device 1 can the surface simulation element 4designed to adjust the position in the direction of the width of the common substrate 2 (in the X direction) according to the size, curvature, etc. of the workpiece so that it is positioned in an optimal position.

[0041] In the workpiece holding and clamping device 1 is the positioning element 3 not limited to one that is not designed to move linearly in the Y direction with respect to the common substrate 2, and the positioning element 3 It can be similar to the surface simulation element 4 be configured so that it is linearly movable in the Y direction with respect to the common substrate 2.

[0042] The workpiece holding and gripping device 1The workpiece being held is not limited to one made of metal and can be made of a non-metal such as a glass plate. In the case of holding a non-metallic workpiece, each of the contact sections 33 and 43 designed to pick up and hold the workpiece using the suction action of a vacuum cleaner or by means of negative pressure.

[0043] Furthermore, the workpiece holding and clamping device 1 The workpiece held is not limited to one that has a shape with a curved surface in an arc shape like the first workpiece. W1 and the second workpiece W2 exhibits, and it is sufficient if the workpiece has at least one of at least one type of shape under a curved surface and an inclined surface where several flat surfaces meet, on which the workpiece receiving and holding device 1has a held workpiece surface. Reference symbol list 1 Workpiece holding and clamping device 3 Positioning element 4 Surface replicating element 33.43 Contact section 35.45 Gliding section 331,431 vacuum cleaners 351,451 Roller (rotary element) 353,453 Element W1 first workpiece W2 second workpiece QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2002321181 [0002, 0003]

Claims

[1] A workpiece holding and holding device (1) designed to successively come into contact with several types of different non-flat surfaces provided on several workpieces (W1, W2) and subsequently to hold the workpieces (W1, W2), the workpiece holding and holding device (1) comprising: at least one positioning element (3) that comes into contact with the workpieces (W1, W2) and positions the workpieces (W1, W2); and several surface simulation elements (4) that come into contact with the workpieces (W1, W2) positioned by the positioning element (3) and are designed to be rotatably movable and linearly movable in accordance with the surfaces of the workpieces (W1, W2), wherein the positioning element (3) and the surface simulation element (4) comprise at least one contact section (33, 43) which comes into contact with the workpieces (W1, W2) and holds the workpieces (W1, W2), and at least one sliding section (35, 45) which is displaceable according to the surfaces of the workpieces (W1, W2) when it comes into contact with the workpieces (W1, W2) on both sides of the contact section (33, 43). [2] Workpiece receiving and holding device (1) according to claim 1, wherein the sliding section (35, 45) is provided with a rotary element (351, 451) which is rotatable by contact with the workpieces (W1, W2). [3] Workpiece receiving and holding device (1) according to claim 1, wherein the sliding section (35, 45) is provided with an element having the property of being easily displaceable with respect to the workpieces (W1, W2). [4] Workpiece receiving and holding device (1) according to one of claims 1 to 3, wherein the contact section (33, 43) comprises a magnet which attracts the workpieces (W1, W2) by means of magnetic force. [5] Workpiece receiving and holding device (1) according to one of claims 1 to 3, wherein the contact section (33, 43) comprises a suction device (331, 431) which draws in the workpieces (W1, W2) by means of negative pressure.

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