CN101282824B - 吸头装置 - Google Patents

吸头装置 Download PDF

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Publication number
CN101282824B
CN101282824B CN2005800517869A CN200580051786A CN101282824B CN 101282824 B CN101282824 B CN 101282824B CN 2005800517869 A CN2005800517869 A CN 2005800517869A CN 200580051786 A CN200580051786 A CN 200580051786A CN 101282824 B CN101282824 B CN 101282824B
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CN
China
Prior art keywords
workpiece
axle
suction
pad
clamping
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN2005800517869A
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English (en)
Chinese (zh)
Other versions
CN101282824A (zh
Inventor
渡边敏彦
田野实贵彦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hirata Corp
Original Assignee
Hirata Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hirata Corp filed Critical Hirata Corp
Publication of CN101282824A publication Critical patent/CN101282824A/zh
Application granted granted Critical
Publication of CN101282824B publication Critical patent/CN101282824B/zh
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/028—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by cams
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
    • H05K13/0408—Incorporating a pick-up tool
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
    • H05K13/0408—Incorporating a pick-up tool
    • H05K13/0409—Sucking devices
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
    • H05K13/0413—Pick-and-place heads or apparatus, e.g. with jaws with orientation of the component while holding it; Drive mechanisms for gripping tools, e.g. lifting, lowering or turning of gripping tools

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Specific Conveyance Elements (AREA)
  • Automatic Assembly (AREA)
CN2005800517869A 2005-10-18 2005-10-18 吸头装置 Active CN101282824B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2005/019451 WO2007046152A1 (ja) 2005-10-18 2005-10-18 吸着ヘッド装置

Publications (2)

Publication Number Publication Date
CN101282824A CN101282824A (zh) 2008-10-08
CN101282824B true CN101282824B (zh) 2012-09-05

Family

ID=37962254

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2005800517869A Active CN101282824B (zh) 2005-10-18 2005-10-18 吸头装置

Country Status (4)

Country Link
JP (1) JP4891251B2 (ja)
CN (1) CN101282824B (ja)
TW (1) TWI363678B (ja)
WO (1) WO2007046152A1 (ja)

Families Citing this family (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4490996B2 (ja) * 2007-07-18 2010-06-30 ジヤトコ株式会社 吸着ソケット及びこれを用いたボルト搬送挿入装置
JP2010118424A (ja) * 2008-11-12 2010-05-27 Disco Abrasive Syst Ltd 薄板状ワークの搬送装置
JP5287603B2 (ja) * 2009-08-26 2013-09-11 ウシオ電機株式会社 基板搬送アーム
JP5550882B2 (ja) * 2009-10-19 2014-07-16 東京応化工業株式会社 塗布装置
KR101169734B1 (ko) * 2010-01-04 2012-07-30 삼성전기주식회사 기판이송장치
DE102010048670A1 (de) * 2010-10-16 2012-04-19 Volkswagen Ag Verfahren und Handhabeeinrichtung zum Handhaben eines Werkteils
JP2013039644A (ja) * 2011-08-18 2013-02-28 Okura Yusoki Co Ltd 物品保持装置
US9075031B2 (en) * 2011-10-11 2015-07-07 Ortho-Clinical Diagnostics, Inc. Apparatus for gripping and holding diagnostic cassettes
CN102513962A (zh) * 2011-12-29 2012-06-27 中国科学院长春光学精密机械与物理研究所 一种芯片起拔器
CN102554060B (zh) * 2012-02-22 2014-12-10 奇瑞汽车股份有限公司 一种用于冲压生产线的端拾器
CN103369942B (zh) * 2012-03-28 2017-08-18 富泰华工业（深圳）有限公司 取放装置
CN102674018A (zh) * 2012-04-24 2012-09-19 常州新区中策机械设备有限公司 码垛机器人
JP6125203B2 (ja) * 2012-11-08 2017-05-10 日置電機株式会社 基板搬送装置
CN103341756A (zh) * 2013-06-27 2013-10-09 苏州菱欧自动化设备有限公司 凸轮吸取夹紧定位机构
CN103587943B (zh) * 2013-10-25 2016-08-24 大连恭德科技有限公司 Led面板抓取机械手
JP6383537B2 (ja) * 2013-12-10 2018-08-29 川崎重工業株式会社 ロボットハンド、ロボット、およびロボットセル
JP6397185B2 (ja) * 2013-12-10 2018-09-26 川崎重工業株式会社 ロボットセル
CN105234953B (zh) * 2014-07-07 2019-06-11 科沃斯商用机器人有限公司 用于可移动吸附装置的吸盘及其可移动吸附装置
WO2016194174A1 (ja) * 2015-06-03 2016-12-08 富士機械製造株式会社 部品装着機
EP4046761A1 (en) * 2016-01-08 2022-08-24 Berkshire Grey Operating Company, Inc. Systems and methods for acquiring and moving objects
JP6571583B2 (ja) * 2016-04-15 2019-09-04 ファナック株式会社 ロボット用把持装置
DE112016007268B4 (de) 2016-10-27 2022-10-13 Mitsubishi Electric Corporation Werkstücktransportvorrichtung
KR20200045523A (ko) * 2017-08-31 2020-05-04 카와사키 주코교 카부시키 카이샤 파지 장치
JP6634059B2 (ja) * 2017-10-16 2020-01-22 シナノケンシ株式会社 カム型ハンド機構
JP6858142B2 (ja) * 2018-01-22 2021-04-14 川崎重工業株式会社 ロボットハンド
CN109018507A (zh) * 2018-08-08 2018-12-18 珠海市商劲智能机械设备有限公司 一种全自动取膜及发膜装置
WO2020053820A1 (en) * 2018-09-13 2020-03-19 Universita' Degli Studi Di Genova Device and method for gripping objects
JP7141288B2 (ja) * 2018-09-25 2022-09-22 川崎重工業株式会社 ロボットシステム
CN109202351B (zh) * 2018-09-30 2024-03-22 苏州富强科技有限公司 一种吹吸一体式吸附机构
JP7234591B2 (ja) * 2018-11-14 2023-03-08 富士電機株式会社 把持ユニット
JP7238375B2 (ja) * 2018-12-14 2023-03-14 富士電機株式会社 保持機構及び搬送方法
JP7168514B2 (ja) 2019-04-05 2022-11-09 川崎重工業株式会社 保持装置及びそれを備えるロボット
JP2020192648A (ja) * 2019-05-29 2020-12-03 株式会社日立製作所 エンドエフェクタ及びピッキングシステム
CN111633421A (zh) * 2020-06-11 2020-09-08 广东天机工业智能系统有限公司 贴料装置
CA3189565A1 (en) 2020-07-22 2022-01-27 Berkshire Grey Operating Company, Inc. Systems and methods for object processing using a passively collapsing vacuum gripper
CA3189615A1 (en) 2020-07-22 2022-01-27 Berkshire Grey Operating Company, Inc. Systems and methods for object processing using a vacuum gripper that provides object retention by shroud inversion

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000006076A (ja) * 1998-06-19 2000-01-11 Tescon Co Ltd 半導体チップ移載装置
JP2001105371A (ja) * 1999-10-06 2001-04-17 Toko:Kk 差動四爪チャック
CN2482099Y (zh) * 2001-04-09 2002-03-13 矽统科技股份有限公司 集成电路测试分类机的测试头

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62215117A (ja) * 1986-03-17 1987-09-21 新技術事業団 負圧吸着装置
JPH06297371A (ja) * 1993-04-16 1994-10-25 Hagiwara Eng Kk 吸着機構
KR100210066B1 (ko) * 1995-08-31 1999-07-15 윤종용 전자렌지의 턴테이블 구동장치
JP4055271B2 (ja) * 1998-11-16 2008-03-05 日産自動車株式会社 ワークの吸着把持装置および方法
JP2001260065A (ja) * 2000-03-17 2001-09-25 Advantest Corp 部品保持装置
JP3828722B2 (ja) * 2000-07-12 2006-10-04 日本碍子株式会社 セラミックス柱状体用移載装置及び移載方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000006076A (ja) * 1998-06-19 2000-01-11 Tescon Co Ltd 半導体チップ移載装置
JP2001105371A (ja) * 1999-10-06 2001-04-17 Toko:Kk 差動四爪チャック
CN2482099Y (zh) * 2001-04-09 2002-03-13 矽统科技股份有限公司 集成电路测试分类机的测试头

Also Published As

Publication number Publication date
TW200724329A (en) 2007-07-01
JP4891251B2 (ja) 2012-03-07
CN101282824A (zh) 2008-10-08
JPWO2007046152A1 (ja) 2009-04-23
TWI363678B (en) 2012-05-11
WO2007046152A1 (ja) 2007-04-26

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