CN113307027A - Suction type holding member, suction type holding device, conveyance system, and method of manufacturing suction type holding member - Google Patents
Suction type holding member, suction type holding device, conveyance system, and method of manufacturing suction type holding member Download PDFInfo
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- CN113307027A CN113307027A CN202110213273.4A CN202110213273A CN113307027A CN 113307027 A CN113307027 A CN 113307027A CN 202110213273 A CN202110213273 A CN 202110213273A CN 113307027 A CN113307027 A CN 113307027A
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- holding member
- suction
- type holding
- suction type
- insertion portion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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Abstract
The invention provides a suction type holding member capable of accurately positioning and preventing air leakage, a manufacturing method thereof, a suction type holding device and a conveying system. The suction type holding member for abutting and suction-holding an object has an insertion portion inserted so as to close an opening of a recess or a through hole of the object when the object is sucked, and the insertion portion is inclined toward a tip end thereof.
Description
Technical Field
The present invention relates to a suction holding member, a method of manufacturing the suction holding member, a suction holding device, and a conveyance system.
Background
Conventionally, in the case of automatically conveying a printed circuit board or the like, the printed circuit board can be held by directly sucking a portion of the printed circuit board where an electronic component is mounted through a suction pad, but there is a problem that the electronic component may be damaged or broken and the suction holding position may be restricted.
On the other hand, since a printed circuit board usually has a plurality of screw holes (through holes), if the through holes of the printed circuit board can be used for suction holding, a suction holding method having high versatility is used, but in a general suction pad, since air sealing of the through holes is insufficient, there is a problem that air leaks from the through holes and the printed circuit board cannot be sufficiently sucked and held.
Therefore, as an adsorption pad suitable for sucking, holding, and conveying a printed circuit board or the like having the through-hole as described above, for example, a conveyance adsorption pad has been proposed which includes a sealing rubber for preventing vacuum leakage and a guide and fixing screw capable of positioning with respect to the through-hole, and which can adsorb even holes, burrs, irregularities, and rough surfaces in a range located in an adsorption portion (for example, see patent document 1).
However, in the suction pad disclosed in the related art document, in order to seal the through hole of the printed circuit board, it is necessary to press the flat surface of the outer periphery of the through hole, and applicable portions are limited.
The invention aims to provide a suction type holding component which can accurately position and prevent air leakage.
[ patent document 1 ] Japanese patent application laid-open No. 2000-190268
Disclosure of Invention
As a means for solving the above-mentioned problems, a suction holding member according to the present invention is a suction holding member for abutting and suction holding an object, and has an insertion portion inserted so as to close an opening of a recess or a through hole of the object at the time of suction of the object, and the insertion portion is inclined toward a tip end thereof.
According to the present invention, it is possible to provide a suction type holding member capable of accurately positioning and preventing occurrence of air leakage.
Drawings
Fig. 1 is a schematic perspective view illustrating a suction type holding member according to embodiment 1.
Fig. 2 is a schematic cross-sectional illustration of the suction type holding member according to embodiment 1 of line a-a in fig. 1.
Fig. 3 is a schematic cross-sectional illustration of the suction type holding member according to embodiment 1 of line B-B in fig. 1.
Fig. 4A to 4D are views illustrating an example of the operation of sucking and holding an object using the suction type holding member according to embodiment 1, and fig. 4A is a cross-sectional view of the suction type holding member at the time of non-suction.
Fig. 4B is a schematic cross-sectional view showing a state where the suction type holding member is brought into contact with the object and vacuum suction is started.
Fig. 4C is a schematic cross-sectional view showing a state in which the space between the suction type holding member and the object is in a vacuum state and an adsorption force is generated.
Fig. 4D is a schematic cross-sectional view showing a state where the air suction is stopped after the object is conveyed to the target position, and the object falls off by its own weight.
Fig. 5 is a schematic cross-sectional illustration of the suction type holding member according to embodiment 2 of line a-a in fig. 1.
Fig. 6 is a schematic cross-sectional illustration of the suction type holding member according to embodiment 2 of line B-B in fig. 1.
Fig. 7A to 7D are views illustrating an example of the operation of sucking and holding an object using the suction type holding member according to embodiment 2, and fig. 7A is a cross-sectional view of the suction type holding member at the time of non-suction.
Fig. 7B is a schematic cross-sectional view showing a state where the suction type holding member is brought into contact with the object and vacuum suction is started.
Fig. 7C is a schematic cross-sectional view showing a state in which the space between the suction type holding member and the object is in a vacuum state and an adsorption force is generated.
Fig. 7D is a schematic cross-sectional view showing a state where the air suction is stopped after the object is conveyed to the target position, and the object falls off by its own weight.
Fig. 8 is a schematic perspective view illustrating the suction type holding member according to embodiment 3.
Fig. 9 is a schematic cross-sectional illustration of the suction type holding member according to embodiment 4 of line a-a in fig. 1.
Fig. 10 is a schematic cross-sectional illustration of the suction type holding member according to embodiment 4 of line B-B in fig. 1.
Fig. 11 is a schematic illustration showing a state where the suction force measurement test is performed using the suction type holding device.
Fig. 12 is a photograph showing an example of a state where the suction force measurement test is performed using the suction type holding device.
Fig. 13 is a schematic illustration showing a state in which the durability evaluation test was performed using the suction type holding device.
Fig. 14 is a photograph showing an example of a state in which a durability evaluation test was performed using a suction type holding device.
Fig. 15 is a schematic view of an ink jet type three-dimensional printer.
Fig. 16 is a schematic view of the suction type holding member produced by the three-dimensional printer shown in fig. 15 being peeled off from the support member.
Fig. 17 is a schematic view of a three-dimensional printer of a three-dimensional stereolithography system.
Detailed Description
(suction type holding member)
The suction holding member of the present invention is a suction holding member for contacting and suction holding an object, and has an insertion portion inserted so as to close an opening of a recess or a through hole of the object when the object is sucked, and the insertion portion is inclined toward a tip thereof, preferably has a support contact portion, an exposure opening, a hollow portion, and a flow path, and further has other portions as necessary.
The suction holding member is also sometimes referred to as "suction pad", "vacuum pad".
In the conventional suction pad, in order to seal the through hole of the printed circuit board as the object, the flat surface of the outer periphery of the through hole of the object needs to be pressed, and an extra area slightly larger than the outer periphery of the through hole is required. In contrast, in the suction type holding member of the present invention, since the insertion portion bites into the edge of the opening of the concave portion or the through hole of the object to prevent air leakage when sucking the object, an extra area as in the conventional art is not required, and the suction force to the object is determined by the internal pressure and the area, so that the size of the supporting and abutting portion can be minimized.
Therefore, the suction type holding member of the present invention is a suction type holding member for abutting against an object and suction-holding the object, and has an insertion portion inserted so as to close an opening of a recess or a through hole of the object at the time of suction of the object, and the insertion portion is inclined toward a tip end thereof, so that both accurate positioning and air leakage sealing can be achieved.
The suction type holding member of the present invention is not particularly limited in shape, size, material, structure, and the like as long as it can suck and hold an object, and can be appropriately selected according to the purpose.
As a material of the suction type holding member, an elastic material is preferable, and examples of the elastic material include nitrile rubber, silicone rubber, natural rubber, urethane resin, polyvinyl chloride resin, fluorine rubber, chloroprene rubber, ethylene propylene rubber, and the like. These may be used alone in 1 kind, or 2 or more kinds may be used in combination.
Although the shore D hardness of the suction holding member varies depending on the size and shape of the suction holding member and the material of the rubber, for example, if the suction holding member has a shape as shown in fig. 1, a silicone rubber having a shore D hardness of 32 or more and 40 or less may be selected. If the attraction type holding member is too hard, the flexibility is lost without elasticity, and the force for attracting and holding the object may be reduced. On the other hand, if the suction type holding member is too soft, the pressing force for cutting off the flow of air may be reduced.
The shore D hardness can be measured, for example, using a shore D durometer.
The shape, size, and structure of the suction holding member are not particularly limited, and may be appropriately selected according to the purpose.
< object >
The object is not particularly limited as long as it can be sucked and held by the suction type holding member, and the shape, size, structure, material, and the like are appropriately selected according to the purpose, and examples thereof include coils, gaskets, pulleys, lenses, printed circuit boards, glass substrates, and gardening cans for industrial parts, automobile parts, and the like.
The object has a recess or a through hole into which the insertion portion of the suction holding member is inserted. Among them, a through hole is preferable from the viewpoint of the adsorption force to the object. By inserting the insertion portion into the opening of the recess or the through hole, accurate positioning and prevention of air leakage can be achieved.
The shape, size, number, structure, arrangement, and the like of the through-holes are not particularly limited and may be appropriately selected according to the purpose.
Examples of the shape of the through-hole include a polygonal shape such as a circle, an ellipse, a rectangle, a square, a triangle, a quadrangle, a pentagon, a hexagon, a heptagon, and an octagon, and a random indefinite shape.
The size of the through hole is not particularly limited, and may be appropriately selected according to the size of the insertion portion of the suction holding member.
The size, number, structure, arrangement, and the like of the concave portion are not particularly limited and may be appropriately selected according to the purpose.
< insertion part >
The insertion portion is inserted so as to block the opening of the recess or the through hole of the object when the object is sucked. When the insertion portion is inserted so as to block the opening of the recess or the through hole of the object, the fluid cannot flow, and the insertion portion abuts against the opening of the recess or the through hole without a gap.
The shape, size, structure, and material of the insertion portion are not particularly limited, and may be appropriately selected according to the purpose.
The shape of the insertion portion may be appropriately selected depending on the shape and size of the recess or the through hole, and examples of the shape include a convex, a substantially truncated cone having a convex shape, a substantially truncated pyramid having a convex shape, and the like.
The insertion portion is formed integrally with the suction holding member, and is preferably made of the same material as the suction holding member.
The insertion portion preferably has a tapered surface inclined toward the distal end portion thereof so as to gradually approach the center line of the insertion portion. By inclining the insertion portion toward the distal end, it is possible to simultaneously position the recess or the through hole with respect to the object and prevent air leakage. Further, by having the tapered surface inclined toward the tip of the insertion portion so as to gradually approach the center line of the insertion portion, the insertion portion can be inserted deep when the recess or the through hole is large, and the insertion portion can be inserted shallow when the recess or the through hole is small, whereby positioning of the suction type holding member with respect to the unevenness in the diameter of the opening of the recess or the through hole and robustness in adsorbing the object can be improved.
In addition, since the suction type holding member of the present invention can prevent air leakage by the insertion portion biting into the edge of the opening of the concave portion or the through hole of the object when sucking the object, an extra area of the flat surface for pressing the outer periphery of the through hole of the object as in the conventional art is not required, and the size of the supporting and abutting portion can be minimized.
It is preferable that the insertion portion is inclined at a plurality of different inclination angles. By changing the angle of the tapered surface of the insertion portion so that the tip of the insertion portion is easily inserted into the tapered surface of the recess or the through-hole of the object (i.e., so that the angle is large relative to the wall surface of the opening of the recess or the through-hole), it is possible to correct the positional deviation between the recess or the through-hole and the central axis of the suction type holding member.
The insertion portion preferably has a 1 st tapered surface on the distal end side of the insertion portion and a 2 nd tapered surface on the root side of the insertion portion (hereinafter, also referred to as "2-step tapered surface").
When the insertion portion is inserted into the recess or the through hole, the insertion portion having a shape similar to the recess or the through hole guides the insertion. For example, when the object is a substrate having a thickness of 1.4mm, the taper angle of the 1 st taper surface is preferably 10 ° or more and 30 ° or less, and more preferably 15 ° or more and 25 ° or less. If the taper angle of the 1 st taper surface is 10 ° or more and 30 ° or less, the insertion portion of the suction type holding member can be inserted into the recess or the through hole without any problem.
The 2 nd taper surface directly contacts with the outer peripheral wall of the opening of the recess or the through hole to prevent air from leaking from the recess or the through hole. For example, when the object is a substrate having a thickness of 1.4mm, the taper angle of the 2 nd taper surface is preferably 3 ° or more and 10 ° or less, and more preferably 4 ° or more and 6 ° or less.
When the taper angle of the 2 nd taper surface is 3 ° or more and 10 ° or less, the sealing force of the through hole is appropriate, and the resistance when the insertion portion is detached is small, which is preferable.
< supporting abutment portion >
The support contact portion is provided outside the insertion portion of the suction holding member, and contacts the object to be supported when the object is sucked. The "supporting abutment" is sometimes also referred to as a "skirt".
The shape, size, structure, and material of the supporting and abutting portion are not particularly limited, and may be appropriately selected according to the purpose.
The support contact portion is formed integrally with the suction type holding member, and is preferably made of the same material as the suction type holding member.
Preferably, the insertion portion and the support abutment portion are formed integrally. By integrating the insertion portion and the supporting contact portion, the problem of air leakage from the connection portion or the contact rubber does not occur, the stability of the suction force is improved, and cost reduction and maintenance-free (as a consumable part) due to integration can be further achieved.
When the insertion portion is inserted into the recess or the through hole of the object, the support contact portion comes into contact with the surface of the object, and an airtight space is formed between the support contact portion and the object. After the airtight space is formed, the suction force is improved, and the object can be conveyed in a state of being sucked and held.
The airtight space generates a sufficient suction force on the object by operating the vacuum suction source to suck air into the vacuum space.
< hollow part, exposed opening part >
The suction type holding member is provided in a direction different from the direction of the support contact portion, and preferably has an exposed opening portion exposed, and a hollow portion communicating with the exposed opening portion and having a maximum diameter larger than a maximum diameter of the exposed opening portion.
By having the exposure opening and the hollow portion, it is possible to connect to a joint of a vacuum suction source and to realize suction and holding of the object by the operation of the vacuum suction source.
When the maximum diameter of the exposure opening is x (mm), the maximum diameter Y of the hollow portion is preferably 1.3x (mm) or more.
A molded article having a structure including an exposure opening (small diameter) and a hollow portion (large diameter) satisfying the above-described relationship is difficult to pull out the hollow portion from a mold (however, if an elastic material is used, it can be pulled out from the mold by deforming the elastic material), and is difficult to mold with a mold, but even in such a complicated shape, it can be easily molded by using a three-dimensional printer.
< flow path >
The suction type holding member preferably has a flow path communicating with an airtight space formed between the hollow portion and the object.
The flow path opening on the side of the airtight space is provided at 1 point or more between the root of the support contact portion and the root of the insertion portion. The passage opening on the airtight space side is preferably provided at 2 or more positions and arranged in point symmetry around the insertion portion. Thereby, particularly the initial suction is uniformly performed.
The flow path opening (connecting portion) on the joint side preferably coincides with the hole diameter of the joint. Thus, the contact area between the joint and the suction holding member is large, and high airtightness can be ensured.
The root of the insertion portion is located immediately below the flow path opening on the joint side, so that the two openings of the flow path cannot be coaxially arranged. The outermost diameter of the flow path opening on the joint side is formed smaller than the outermost diameter of the insertion portion.
In this case, the flow path is formed as an undercut (undercut) portion, and it is very difficult to form the flow path by a channel mold, but molding can be easily performed by using a three-dimensional printer.
< other part >
The other part is not particularly limited and may be appropriately selected according to the purpose.
(method of manufacturing suction type holding Member)
The method for manufacturing a suction holding member according to the present invention is a method for manufacturing a suction holding member that sucks and holds an object, and includes a determination step and a shaping step, and may further include other steps as necessary.
< determination step >
The specifying step is a step of specifying the shape information of the suction type holding member based on at least 1 type of information selected from the shape, size, structure, number, and arrangement of the recess or the through hole of the object into which the insertion portion is inserted, the surrounding state of the recess or the through hole, and the weight, size, shape, thickness, and material of the object.
Examples of the information on the recess or the through hole include a shape, a size (diameter, depth), a structure, a number, an arrangement, presence or absence of electronic components mounted around the through hole, and the like.
< shaping step >
The molding step is a step of molding the suction type holding member by the three-dimensional printer based on the molding information of the specified suction type holding member.
By using the three-dimensional printer, even if the number is small, the printer can be manufactured at a low price in a short time. In addition, the three-dimensional printer can be simply formed integrally to reduce the number of parts, and the degree of freedom of the shape of the air flow path inside the suction holding member is improved because the direction of extraction from the mold does not need to be considered. Therefore, for example, the structural portion connecting and supporting the abutting portion, the insertion portion, and the hollow portion can be formed thick, or the area of the hollow portion into which the joint connected to the vacuum suction source is fitted can be increased, whereby the suction type holding member can be formed into a structure having higher durability.
The three-dimensional printer is not particularly limited, and may be appropriately selected according to the purpose, and for example, various types such as a hot melt deposition molding (FDM), a material ejection method, an adhesive ejection method, a powder deposition method, and a photo-modeling method may be selected.
The molding material may contain an elastic material, a polymerizable monomer or a polymerizable oligomer, and may further contain other components as needed. Among them, a material having liquid properties such as viscosity and surface tension which can be ejected by a modeling material ejection head used for a modeling material ejection printer or the like is preferable.
Examples of the elastic material include nitrile rubber, silicone rubber, natural rubber, urethane resin, polyvinyl chloride resin, fluorine rubber, chloroprene rubber, ethylene propylene rubber, and the like. These may be used alone in 1 kind, or 2 or more kinds may be used in combination.
In the three-dimensional printer, the shape of the insertion portion can be formed to correspond to the shape of the recess or the through hole of the object, and therefore, the three-dimensional printer can be applied to cases where the opening of the recess or the through hole is not circular, such as an ellipse. Further, since the structure can be integrally molded even with a complicated structure, a connection portion which causes air leakage can be eliminated, and the stability of the suction force can be improved.
Further, if a three-dimensional printer capable of switching the modeling material during modeling is used, the modeling material can be changed for each section.
In addition, in the case of manufacturing a large number of suction type holding members having the same function at low cost, a method using a mold instead of a three-dimensional printer may be employed.
The three-dimensional printer is preferably an ink-jet type three-dimensional printer or a three-dimensional photo-curing molding type three-dimensional printer.
The inkjet three-dimensional printer employs an inkjet (material ejection) system or a system in which ink is ejected by a dispenser system and cured by UV light. These systems can use a plurality of molding materials, and therefore the entire suction holding member is not of the same composition, but can be distributed according to the composition of each part.
For example, the three-dimensional printer 10 of the ink jet system shown in fig. 15 uses a head unit in which ink jet heads are arranged, ejects a liquid material for forming a suction type holding member from a molding liquid material ejecting head unit 11, ejects a liquid material for forming a support from support liquid material ejecting head units 12, and laminates the liquid material for forming the suction type holding member and the liquid material for forming the support while curing them by adjacent ultraviolet irradiators 13, 13.
In order to keep the gaps between the liquid material ejecting head units 11 and 12 and the ultraviolet irradiator 13, the molded body 17, and the support 18 constant, the stages 15 are stacked while being lowered in accordance with the number of times of stacking.
In the three-dimensional printer 10, the ultraviolet irradiators 13 and 13 are used even when they move in any direction of the arrow A, B, and the surface of the laminated liquid material forming the support is smoothed by heat generated by the ultraviolet irradiation, and as a result, the dimensional stability of the suction type holding member can be improved.
After the molding is completed, as shown in fig. 16, the suction holding member 17 and the support 18 are pulled and peeled in the horizontal direction, and then the support 18 is peeled integrally, so that the suction holding member 17 can be easily taken out.
As shown in fig. 17, in the three-dimensional printer of the stereolithography system, a liquid material for forming a suction-type holding member is stored in a liquid tank 24, and an ultraviolet laser beam 23 emitted from a laser light source 21 is irradiated from a laser scanner 22 to a surface 27 of the liquid tank, thereby producing a cured product 28 on a build table 26. The modeling table 26 is lowered by the operation of the piston 25, and the suction type holding member is obtained by repeating this operation in sequence.
< other Process >
The other steps are not particularly limited and may be appropriately selected according to the purpose, and examples thereof include a support material removing step, a control step, and a cleaning step.
(suction type holding device)
The suction holding device of the present invention includes at least one suction holding member of the present invention and a vacuum suction source, and may further include other members as necessary.
The vacuum source is not particularly limited and may be appropriately selected according to the purpose, and examples thereof include a vacuum pump.
The suction holding device described above includes a plurality of suction holding members according to the present invention, and can suck and hold even an object having a large area and a large weight and convey the object to a target place.
The suction holding member is fixed to the fixing member, and a joint of the suction holding member and the vacuum pump are connected by a pipe. An ON/OFF valve (ON/OFF) may be provided in the middle of the piping, and a pressure regulator may be used. Further, it is preferable that the switching valve includes a leakage valve and opens the internal pressure.
(conveying System)
The conveying system of the present invention is a conveying system that conveys an object while sucking and holding the object.
The object holding device may further include a conveying mechanism including at least one suction type holding member at a tip thereof, and a control mechanism for controlling operations of the object holding device and the conveying mechanism.
Examples of the conveyance mechanism include a multi-axis robot, a mechanism in which linear motion axes in the vertical direction and the horizontal direction are combined, and the like.
< control means >
The control means stores an operation program necessary for conveyance, and performs positioning operation of the conveyance means and suction operation (on/off of suction 0N/0FF) of the object holding device shown in fig. 4A to 4D based on the operation program. The conveyance system is provided with a vacuum sensor, and can determine that the object is sucked and held, and can perform a conveyance operation.
< other means >
The other means is not particularly limited and may be appropriately selected depending on the purpose.
Embodiments of a suction holding member and a suction holding device according to the present invention will be described in detail with reference to the drawings.
In the drawings, the same components are denoted by the same reference numerals, and redundant description thereof may be omitted. The number, position, shape, and the like of the components are not limited to those in the present embodiment, and the number, position, shape, and the like can be appropriately selected when carrying out the present invention.
< embodiment 1>
Fig. 1 is a schematic perspective view illustrating a suction type holding member according to embodiment 1, fig. 2 is a schematic cross-sectional view illustrating the suction type holding member according to embodiment 1 taken along line a-a of fig. 1, and fig. 3 is a schematic cross-sectional view illustrating the suction type holding member according to embodiment 1 taken along line B-B of fig. 1.
A suction type holding member 110 according to embodiment 1 shown in fig. 1 to 3 includes an insertion portion 1 and a support contact portion 2. In embodiment 1, the object has a through hole.
The suction type holding member 110 is a member for sucking and holding an object, and has an exposure opening 6, a hollow portion 4 connected to a joint (not shown) connected to a vacuum suction source, a flow path opening (connecting portion) 7 on the joint side, and a flow path 5.
The suction holding member 110 is made of an elastic material, and silicone rubber is used as the elastic material.
The shore D hardness of the suction holding member 110 is preferably about 35. If the attraction holding member 110 is too hard, the flexibility is lost without elasticity, and the attraction holding force of the object may be reduced. On the other hand, if the suction type holding member 110 is too soft, the pressing force for cutting off the flow of air may be reduced.
The suction type holding member 110 has an exposure opening 6 exposed to the outside, and a hollow portion 4 communicating with the exposure opening 6 and having a maximum diameter larger than the maximum diameter of the exposure opening 6.
By having the exposure opening 6 and the hollow portion 4, it is possible to connect to a joint connected to a vacuum suction source, and suction and holding of the object is realized by the operation of the vacuum suction source.
As shown in FIG. 2, when the maximum diameter of the exposure opening is X (mm), and the maximum diameter is applied to, for example, a hole diameter of 4mm to 10mm, the design value is 1.3X to 2.0 Xmm.
The molded article having the structure including the exposure opening 6 (small diameter) and the hollow portion 4 (large diameter) is difficult to pull out the hollow portion from the mold (the hollow portion may be pulled out from the mold after being deformed when formed of an elastic material), and is difficult to mold by the mold, but even in such a complicated shape, the molding can be easily performed by using a three-dimensional printer.
A flow path 5 communicating with an airtight space formed between the hollow portion 4 and the object is provided.
As shown in fig. 4A, the passage opening 8 on the airtight space side is provided at 1 point or more between the root of the support contact portion 2 and the root of the insertion portion 1. Preferably at 2 or more, and is disposed in point symmetry around the insertion portion 1. Especially the initial attraction will be performed uniformly.
As shown in fig. 2, the flow path opening 7 (connection portion) on the joint side preferably has a diameter corresponding to the diameter of the joint. Since the contact area between the joint and the suction holding member 110 is large, high airtightness can be ensured.
Just below the joint-side flow path opening 7 (connecting portion), there is a root portion of the insertion portion 1, so that the two flow path openings cannot be coaxially arranged. The outermost diameter z of the joint-side flow path opening 7 is smaller than the outermost diameter LH of the insertion portion 1.
In this case, the flow path is formed as a reverse-buckled portion, and it is very difficult to form the flow path by a channel mold, but it can be easily molded by using a three-dimensional printer.
The insertion portion 1 is inserted so as to block the opening of the through hole of the object when the object is sucked.
The insertion portion 1 is formed integrally with the suction type holding member 110, and the same silicone rubber as the suction type holding member 110 is used.
The insertion portion 1 preferably has a tapered surface inclined toward the distal end thereof so as to gradually approach the center line of the insertion portion. Since the portion sealed by the insertion portion has a tapered shape, it is possible to simultaneously position the through hole and prevent air leakage. Further, since the insertion portion has the tapered surface, the insertion portion can be inserted deeply when the through hole is large, and can be inserted shallowly when the through hole is small, whereby the robustness of positioning of the suction type holding member with respect to the diameter unevenness of the through hole and the suction of the object can be improved.
It is preferable that the insertion portion 1 is inclined at a plurality of different inclination angles. By changing the angle of the tapered surface of the insertion portion so that the tip of the insertion portion can be easily inserted into the tapered surface of the through hole of the object (i.e., so that the angle is large relative to the wall surface of the opening of the through hole), it is possible to correct the positional deviation between the through hole and the central axis of the suction type holding member.
The insertion part 1 preferably has a 1 st taper on its front end side and a 2 nd taper on the root side of the insertion part ("2-step taper").
When the insertion portion is inserted into the through hole, the insertion portion having a shape similar to the through hole guides the insertion. When the object is a substrate having a thickness of 1.4mm, the taper angle of the 1 st taper surface is preferably about 20 °. If the taper angle of the 1 st taper surface is about 20 °, the insertion portion can be inserted into the through hole without any problem.
The 2 nd taper surface directly contacts with the periphery of the through hole to prevent air from leaking out of the through hole. When the object is a substrate having a thickness of 1.4mm, the taper angle of the 2 nd taper surface is preferably about 5 °. If the taper angle of the 2 nd taper surface is too large, the sealing force is reduced, while if the taper angle of the 2 nd taper surface is too small, the resistance when the insertion portion of the suction type holding member is inserted into and removed from the through hole may be increased.
Since the shape of the insertion portion 1 can be formed to correspond to the shape of the through hole of the object, the insertion portion can correspond to a hole other than a circular hole such as a long diameter hole. Further, since the decrease in the suction force corresponds to the area of the through hole of the object, the suction force can be exhibited to the maximum extent. Therefore, the size (outer diameter in the case of a circular shape) of the supporting and contacting portion can be minimized with respect to the target suction force.
In FIG. 2, the root diameter LH of the insertion portion 1 is similar to the diameter of the through hole of the object, and when the thickness of the object is 1.4mm and the hole diameter is φ 4mm, the root diameter LH of the insertion portion 1 is preferably +0.5mm to 0.6mm of the diameter of the through hole of the object. Also, the optimum value needs to be adjusted according to the shore D hardness.
The support contact portion 2 is provided outside the insertion portion of the suction holding member 110, and contacts the object when the object is attracted.
The shape, size, structure, and material of the supporting and abutting portion 2 are not particularly limited, and may be appropriately selected according to the purpose.
The supporting contact portion 2 is formed integrally with the attraction holding member 110, and the same silicone rubber as the attraction holding member 110 is used.
It is preferable that the attraction type holding member 110, the insertion portion 1, and the support abutment portion 2 are formed integrally. By integrating the suction type holding member 110, the insertion portion 1, and the support contact portion 2, the problem of air leakage from the connection portion or the contact rubber does not occur, the stability of the suction force is improved, and cost reduction and maintenance-free (as a consumable part) due to integration can be further achieved.
Preferably, when the insertion portion is inserted into the through hole of the object, the support contact portion contacts the surface of the object, and an airtight space is formed between the support contact portion and the object. After the airtight space is formed, the suction force to the object is improved, and the object can be conveyed to the target position while being sucked and held.
The airtight space generates an adsorption force on the object by operating the vacuum suction source to suck air into the vacuum space.
The thickness of the support contact portion shown by DS in fig. 2 depends on the characteristics of the material, but if the thickness of the support contact portion is small, the support contact portion may be drawn into the inside by air suction, and if the thickness of the support contact portion is large, the elastic force of the support contact portion is lost, and therefore, it is preferable to have an appropriate thickness.
In view of the requirement for the suction force necessary for one suction type holding member, the outer diameter of the support and contact portion 2 shown by LS in fig. 2 needs to be large enough to ensure a suction area formed by the contour of the through hole and the inner diameter of the support and contact portion.
Here, fig. 4A to 4D are schematic illustrations of the suction holding operation of the object using the suction holding member and the suction holding device according to embodiment 1.
Fig. 4A shows a state of the suction type holding member and the suction type holding device according to embodiment 1 at a time of non-suction, and shows a state where the suction type holding member 110 is engaged with the joint 50 connected to the vacuum suction source, and a flow of air at the time of air suction is started. In fig. 4A, 8 denotes a flow path opening on the airtight space side.
In the state shown in fig. 4B, at the moment when the suction holding member 110 is in contact with the surface of the object, the air flowing through the gap between the suction holding member 110 and the substrate 40 as the object is stopped, the sealing is started at the position P in fig. 4B, and the vacuum suction is started by the operation of the vacuum suction source.
Fig. 4C shows that after the suction holding member 110 is brought into contact with the object, the insertion portion 1 of the suction holding member 110 bites into the peripheral wall surface of the through hole 32 of the substrate 40 at the position Q in fig. 4C by vacuum suction by the operation of the vacuum suction source, and the air flow is blocked. When the insertion portion 1 is inserted into the through hole 32 of the substrate 40, the support contact portion 2 comes into contact with the substrate 40, and a space V formed between the support contact portion and the object becomes a vacuum space, thereby generating an attraction force on the object.
Fig. 4D shows a state in which the substrate 40 falls due to its own weight when the air suction is stopped after the suction-type holding member 110 conveys the substrate 40 to the target position in a state of sucking and holding the substrate.
< embodiment 2>
Fig. 1 is a schematic perspective view illustrating a suction type holding member according to embodiment 2, fig. 5 is a schematic cross-sectional view illustrating the suction type holding member according to embodiment 2 taken along line a-a of fig. 1, and fig. 6 is a schematic cross-sectional view illustrating the suction type holding member according to embodiment 2 taken along line B-B of fig. 1. In embodiment 2, the same components as those of the already described embodiment are denoted by the same reference numerals, and the description thereof is omitted.
The suction type holding member 120 according to embodiment 2 shown in fig. 5 and 6 is different from the suction type holding member 110 according to embodiment 1 shown in fig. 2 and 3 in that the shape and size of the insertion portion 1 are changed. That is, in the suction type holding member 120 according to embodiment 2, the insertion portion 1 has a 1-step tapered surface. The substrate as the object has a recess 41. In the suction type holding member 110 according to embodiment 2, the insertion portion 1 may have a 2-step tapered surface.
Next, a holding operation of an object using the suction type holding member 120 according to embodiment 2 will be described with reference to fig. 7A to 7D.
Fig. 7A shows a state of the suction type holding member and the suction type holding device according to embodiment 2 at the time of non-suction, and shows a state where the suction type holding member 120 is engaged with the joint 50 connected to the vacuum suction source, and the flow of air at the time of air suction is started. In fig. 7A, 8 denotes a flow path opening on the airtight space side.
In the state shown in fig. 7B, at the moment when the suction holding member 120 comes into contact with the surface of the object, the air flowing through the gap between the suction holding member 110 and the substrate 40 as the object stops, the sealing starts at the position P in fig. 7B, and the vacuum suction starts by the operation of the vacuum suction source.
Fig. 7C shows that after the suction holding member 120 is brought into contact with the object, the insertion portion 1 of the suction holding member 120 bites into the peripheral wall surface of the recess 41 of the substrate 40 at the position Q in fig. 7C by vacuum suction by the operation of the vacuum suction source, and the air flow is blocked. When the insertion portion 1 is inserted into the recess 41 of the substrate 40, the support abutment portion 2 abuts against the substrate 40, and the space V formed between the support abutment portion and the substrate becomes a vacuum space, thereby generating an attraction force to the substrate.
Fig. 7D shows a state in which the substrate 40 falls due to its own weight when the air suction is stopped after the suction-type holding member 120 conveys the substrate 40 to the target position in a state of sucking and holding the substrate 40.
< embodiment 3>
Fig. 8 is a schematic illustration of the suction type holding member according to embodiment 3. In embodiment 3, the same components as those of the already described embodiments are denoted by the same reference numerals, and the description thereof is omitted.
The suction holding member 130 according to embodiment 3 shown in fig. 8 is different from the suction holding member 110 according to embodiment 1 shown in fig. 2 and 3 in that the through hole 32 of the substrate 40 as the object has an elliptical shape, and the shape of the insertion portion 1 of the suction holding member 130 is changed in accordance with the elliptical shape of the through hole 32. Fig. 8 shows a portion 32a where the suction force is generated.
According to embodiment 3, since the insertion portion 1 can be formed into a similar shape in accordance with the shape of the through hole 32 of the object to directly seal the outer periphery of the through hole 32, it is possible to effectively utilize the mounting area due to the minimization of the size of the supporting contact portion.
In embodiment 3, since the three-dimensional printer is used for modeling, even if the through-hole has various irregular shapes, the three-dimensional printer can be used for modeling in a short time at low cost.
< embodiment 4>
Fig. 1 is a schematic perspective view illustrating a suction type holding member according to embodiment 4, fig. 9 is a schematic cross-sectional view illustrating the suction type holding member according to embodiment 4 taken along line a-a of fig. 1, and fig. 10 is a schematic cross-sectional view illustrating the suction type holding member according to embodiment 4 taken along line B-B of fig. 1. In embodiment 4, the same components as those of the above-described embodiments are denoted by the same reference numerals, and the description thereof is omitted.
The suction holding member 140 according to embodiment 4 shown in fig. 9 and 10 is different from the suction holding member 110 according to embodiment 1 shown in fig. 2 and 3 in that the maximum diameter z of the flow path opening 7 (connecting portion) on the joint side is set to be larger than the maximum diameter LH of the insertion portion 1, and in the case of molding the suction holding member with an elastic material, the hollow portion 4 and the flow path 5 can be removed from the mold, and therefore, the molding can be performed with the mold.
According to embodiment 4, the suction type holding member 140 can be mass-produced at low cost by using a mold.
The suction type holding member after the mold molding according to embodiment 4 has an advantage that fine powder-like surface foreign matter such as a shaped object formed by a three-dimensional printer is not present.
[ examples ] A method for producing a compound
The following examples of the present invention are illustrative, but the present invention is not limited to these examples.
(example 1)
The suction type holding member 110 shown in fig. 1 to 3 was molded using AR-G1L (low-hardness silicone rubber, shore D hardness 35, manufactured by KEYENCE) as a molding material and an ink jet type three-dimensional printer (manufactured by KEYENCE, aglista 3200).
Next, using the obtained suction type holding member 110, the suction force, durability, and positional deviation were evaluated as described below.
< measurement of adsorption force >
Fig. 11 and 12 show an adsorption force measuring device capable of repeatedly measuring the adsorption force of the suction type holding member 110 by itself and an adsorption force measuring method using the same.
The substrate 31 provided with the through hole 32 is fixed between the pair of base stages 30 and 30, and the suction type holding member 110 is moved up and down by the operation of a tension tester (digital load cell, manufactured by nippon electric and commercial products) 35 connected via a joint 34.
After a new suction-type holding member 110 is attached to the tip of the tensile tester 35, the insertion portion is inserted into the through hole 32 of the fixed substrate 31 immediately below the insertion portion, the vacuum suction pump is started to start suction, and then the tensile tester 35 repeatedly measures the suction force when the suction-type holding member 110 is forcibly pulled away from the substrate 31 as it is.
As shown in Table 1, it was confirmed that even when the adsorption and the forced release were repeated 5,000 times or more, the adsorption force was 400gf or more, which was the target value.
< evaluation of durability >
Fig. 13 and 14 are diagrams showing a durability evaluation device that actually repeats suction holding and releasing of a printed circuit board 40 as an object having a through hole 32, and a durability evaluation method using the durability evaluation device.
The through-holes 32 at two corners on the diagonal line of the printed circuit board 40 as the object are repeatedly subjected to repeated operations of air suction, lifting, left-right vibration, reference position stop, lowering, air stop, and release by using the new suction type holding member 110. The suction type holding member 110 is connected to a pipe 37 for suction via a joint 34.
As shown in table 1, the experiment was terminated in a state where 500000 or more times of use was possible. This revealed that the target value was achieved 300000 times or more.
< measurement of position deviation Limit value >
After the horizontal movement mechanism 38 in fig. 11 was started, the center of the insertion portion was moved ± 0.05mm in one direction of X and Y, and the range in which the holding can be performed was recorded. The results are shown in Table 1. The measurement results showed that the positional deviation (the entire width was 2.1mm) from the center of the insertion portion could be maintained to ± 1.05 mm.
As shown in table 1, according to the suction type holding member 110 shown in fig. 1 to 3, by making the insertion portion into a 2-step tapered shape, even if the misalignment width is 2.1mm which is the maximum, the suction holding and the conveyance are possible, and it is understood that the misalignment limit value as the target value can be ± 0.3mm or more.
TABLE 1
The mode of the present invention can be as follows.
<1>
A suction type holding member for abutting and suction-holding an object, characterized in that: the suction device has an insertion portion that is inserted so as to close an opening of a recess or a through hole of the object when the object is sucked, and the insertion portion is inclined toward a tip end thereof.
<2>
The attraction type holding member according to <1>, wherein the insertion portion is inclined at a plurality of different inclination angles.
<3>
The suction type holding member according to any one of <1> to <2> has an exposed opening portion, and a hollow portion communicating with the exposed opening portion and having a maximum diameter larger than a maximum diameter of the exposed opening portion.
<4>
The suction type holding member according to <3>, wherein a flow path communicating with an airtight space formed between the hollow portion and the object is provided, the flow path opening portion on the airtight space side is disposed outside the insertion portion, and the two flow path opening portions are not coaxial.
<5>
The attraction holding member according to any one of <1> to <4>, which is an adsorption pad.
<6>
The attraction holding member according to any one of <1> to <5>, which is shaped by a three-dimensional printer.
<7>
The attraction holding member according to any one of <1> to <6>, which is formed of at least 1 kind of elastic material selected from the group consisting of nitrile rubber, silicone rubber, natural rubber, urethane resin, polyvinyl chloride resin, fluorine rubber, chloroprene rubber, and ethylene propylene rubber.
<8>
A method for manufacturing a suction type holding member for abutting and suction-holding an object, comprising: a determination step of determining model information of the suction type holding member based on at least 1 type of information selected from the shape, size, configuration, number, and arrangement of the recess or the through hole of the object inserted from the insertion portion, the state around the recess or the through hole, and the weight, size, shape, thickness, and material of the object, and a modeling step of modeling the suction type holding member by a three-dimensional printer based on the determined model information of the suction type holding member.
<9>
A suction type holding device characterized in that: the vacuum suction apparatus is provided with at least one suction type holding member of any one of <1> to <7> and a vacuum suction source.
<10>
A transport system for transporting an object in a suction-held state, comprising: <9> the suction-type holding device, and a control mechanism for controlling the operation of the suction-type holding device.
Claims (10)
1. A suction type holding member for abutting and suction-holding an object, characterized in that:
an insertion part inserted to block the opening of the recess or the through hole of the object when the object is sucked
The insertion portion is inclined toward a front end thereof.
2. The attraction type holding member according to claim 1, characterized in that:
the insertion portion is inclined at a plurality of different inclination angles.
3. The attraction type holding member according to any one of claims 1 to 2, characterized in that:
the hollow member has an exposed opening portion and a hollow portion communicating with the exposed opening portion and having a maximum diameter larger than a maximum diameter of the exposed opening portion.
4. The attraction holding member according to claim 3, wherein:
a flow path communicating with an airtight space formed between the hollow portion and the object is provided, a flow path opening portion on one side of the airtight space is disposed outside the insertion portion, and the two flow path opening portions are not coaxial.
5. The attraction type holding member according to any one of claims 1 to 4, characterized in that:
the attraction holding member is an adsorption pad.
6. The attraction type holding member according to any one of claims 1 to 5, characterized in that:
the suction type holding member is shaped by a three-dimensional printer.
7. The attraction type holding member according to any one of claims 1 to 6, characterized in that:
the attraction holding member is formed of at least 1 elastic material selected from the group consisting of nitrile rubber, silicone rubber, natural rubber, urethane resin, polyvinyl chloride resin, fluorine rubber, chloroprene rubber, and ethylene propylene rubber.
8. A method for manufacturing a suction type holding member for abutting and suction-holding an object, comprising:
a determination step of determining the shape information of the suction type holding member and the shape information of the suction type holding member based on at least 1 information selected from the shape, size, structure, number, and arrangement of the concave portion or the through hole of the object inserted from the insertion portion, the state of the periphery of the concave portion or the through hole, and the weight, size, shape, thickness, and material of the object
And a molding step of molding the suction holding member by a three-dimensional printer based on the molding information of the specified suction holding member.
9. A suction type holding device characterized in that:
a vacuum suction source and at least one suction type holding member according to any one of claims 1 to 7.
10. A transport system for transporting an object in a suction-held state, comprising:
the attractive holding device of claim 9, and
and a control mechanism for controlling the operation of the suction type holding device.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2020030196A JP7505204B2 (en) | 2020-02-26 | 2020-02-26 | Suction-type holding member and its manufacturing method, suction-type holding device, and conveying system |
| JP2020-030196 | 2020-02-26 |
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| CN113307027A true CN113307027A (en) | 2021-08-27 |
| CN113307027B CN113307027B (en) | 2023-03-31 |
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| Publication number | Publication date |
|---|---|
| JP7505204B2 (en) | 2024-06-25 |
| CN113307027B (en) | 2023-03-31 |
| JP2021133448A (en) | 2021-09-13 |
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