JP2013193165A - Gripping and moving device, fitting device for columnar member, and gripping and moving method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To move a columnar member in a gripped state without any positional shift.SOLUTION: A gripping and moving device 4 grips and moves a columnar member 61 fixed to an optical component 32 with an adhesive 62, and includes a guide 41 arranged above the optical member 32. In the guide member 41, a gripping groove 51 with a curvature slightly smaller than the curvature of the columnar member 61 is formed, and in the gripping groove 51, two suction holes 55 are formed apart from each other in a vertical direction. The columnar member 61 is sucked and held at the curved surface 51B of the gripping groove 51, and pressed by the pin 57 of a press portion 42 to be pressed against optical components 31-35.

Description

  The present invention relates to a gripping moving device, a cylindrical member mounting device, and a gripping moving method.

  An optical communication device is provided with an optical component such as a lens that collects laser light. The optical component is positioned and fixed to the package of the optical communication device in order to prevent deviation of the optical axis of the laser light. Here, the lens is generally a small component, and since the operator cannot directly touch the spherical surface of the lens, it is difficult to handle the lens alone. For this reason, in the process of assembling the lens to the package, a member having an elongated cylindrical shape is fixed to the lens with an adhesive in advance, and the lens is moved or the lens is assembled to the package by grasping the cylindrical member. .

  When fixing the cylindrical member to the lens, the cylindrical member pre-applied with the adhesive is sucked and held and abutted against a predetermined position of the lens, and then the adhesive is cured. When the lens is assembled to the package of the optical communication device, the cylindrical member is held by, for example, a handling device having a robot hand, and the lens is moved together with the cylindrical member. The handling device moves the lens held by the cylindrical member to a predetermined position of the package, and then fixes the lens to the package with an adhesive. At this time, the handling device controls the direction of the robot hand to adjust the optical axis of the lens with respect to the package.

  For this reason, the handling device needs to correctly position and fix the cylindrical member to the lens. As a conventional apparatus for positioning and holding a columnar member, there is a device having a semicylindrical groove that fits with the columnar member and holding the columnar member with one suction hole formed near the center in the longitudinal direction of the semicylindrical groove. Are known. Here, the semi-cylindrical groove is formed horizontally, and when the column member is fixed to the substrate with an adhesive or the like, vacuum adsorption is performed with the column member fitted in the semi-cylindrical groove. Then, the board | substrate which apply | coated the adhesive agent is positioned and mounted from the upper direction of a cylindrical member, and an adhesive agent is hardened.

JP-A-2-13912

  However, in order to remove the columnar member from the semi-cylindrical groove after bonding the substrates, it is necessary to eliminate the fit between the columnar member and the semi-cylindrical groove. Therefore, in the conventional direction, when the cylindrical member is removed from the handling device, stress is easily applied to the bonded portion of the cylindrical member and the substrate. When stress is applied to the bonded portion, the position of the columnar member is displaced with respect to the substrate, or the columnar member is easily peeled off from the substrate.

Moreover, in the conventional handling apparatus, it has the structure which moves a board | substrate toward a cylindrical member. However, in the case where a small component is bonded to the column member instead of the substrate, it is necessary to move the small component while gripping it and contact the column member fitted in the semi-cylindrical groove. However, it has been difficult to accurately move while holding a small component.
The present invention has been made in view of such circumstances, and an object of the present invention is to move a cylindrical member without being displaced in a gripped state.

  According to one aspect of the embodiment, the cylindrical member can be inserted and has a curved surface portion having a curvature smaller than the curvature of the cylindrical member, and the suction surface is formed in the curved surface portion. A guide part for gripping the cylindrical member on the curved surface part by adsorbing a curved surface of a side part of the cylindrical member; and a pressing part for pressing the cylindrical member inserted in the curved surface part in an axial direction of the cylindrical member; A control unit that moves the columnar member along the curved surface portion by the pressing unit while adsorbing and holding the guide unit, and changes a protruding amount of the columnar member from the guide unit. A featured gripping and moving device is provided.

  Moreover, according to another viewpoint of embodiment, a cylindrical member is inserted in the curved surface part formed in the guide part, and the curved surface of the side part of the said cylindrical member is adsorbed using the suction hole formed in the said curved surface part. A step of adsorbing and holding the column member, a step of bringing a pressing member into contact with one end of the column member, and pressing the column member in the axial direction of the column member with the pressing member, And a step of moving in a state where the guide portion is attracted and held.

  The columnar member is positioned at the center by a curved surface portion whose curvature is smaller than that of the columnar member, and is securely held by the suction hole, so that the columnar member can be easily attached to and detached from the guide portion. In addition, the cylindrical member can be smoothly moved by pressing the cylindrical member with the pressing portion, and the protruding amount of the cylindrical member from the guide portion can be adjusted by the moving amount of the pressing member, so that the position of the cylindrical member can be controlled with high accuracy.

FIG. 1A is a perspective view illustrating an example of a schematic configuration of an attachment device including a gripping movement device according to an embodiment of the present invention. FIG. 1B is a partially enlarged view showing an example of a schematic configuration of an attachment device including a gripping movement device according to an embodiment of the present invention. FIG. 2A is a cross-sectional view taken along the line II of FIG. 1B, showing an example of the guide portion of the gripping and moving apparatus according to the embodiment of the present invention. FIG. 2B shows an example of the guide portion of the gripping movement device according to the embodiment of the present invention, and is a cross-sectional view taken along the line I-I of FIG. FIG. FIG. 3 is a front view showing an example of a guide portion of the gripping and moving apparatus according to the embodiment of the present invention. FIG. 4 is a cross-sectional view taken along the line II-II in FIG. 1B, showing an example of the guide portion of the gripping movement device according to the embodiment of the present invention. FIG. 5A is a diagram illustrating an example of a flowchart of an attachment device including a gripping movement device according to an embodiment of the present invention. (Part 1) FIG. 5B is a diagram illustrating an example of a flowchart of an attachment device including the gripping movement device according to the embodiment of the present invention. (Part 2) FIG. 6A is a diagram for explaining the operation of the attachment device including the gripping movement device according to the embodiment of the present invention. (Part 1) FIG. 6B is a diagram for explaining the operation of the attachment device including the gripping movement device according to the embodiment of the present invention. (Part 2) FIG. 6C is a diagram illustrating the operation of the attachment device including the gripping movement device according to the embodiment of the present invention. (Part 3) FIG. 6D is a diagram for explaining the operation of the attachment device including the gripping movement device according to the embodiment of the present invention. (Part 4)

The objects and advantages of the invention will be realized and attained by means of the elements and combinations particularly pointed out in the appended claims.
The foregoing general description and the following detailed description are exemplary and explanatory only and are not intended to limit the invention.

  FIG. 1 shows a schematic configuration of an apparatus for attaching an adjustment shaft for an optical component including a gripping movement device. An optical component adjustment shaft mounting device (hereinafter referred to as a mounting device) 1 has an L-shaped housing portion 2 placed on a work table or the like, and a component fixing portion 3 on the housing portion 2. Is positioned and held by suction. Further, a gripping and moving device 4 is disposed above the component fixing unit 3, and the gripping and moving device 4 is supported by the housing unit 2. In addition, the attachment device 1 includes suction lines 6, 7, and 8 used for suction holding, a vacuum pump 9, an ultraviolet (UV) irradiator 10 that is an adhesive device, and a control device 11 that controls the attachment device 1. Have

  The housing | casing part 2 has the flat-shaped base 21, the one end of the back | inner side of the base 21 is extended vertically upwards, and forms the side part 22, and is L-shaped as a whole. A concave portion 23 for positioning the component fixing portion 3 is formed on the upper surface of the base 21, and at least one suction hole (not shown) that sucks the component fixing portion 3 is formed in the concave portion 23. The suction hole is connected to the suction line 6 via a port 24 provided on the side surface of the base 21. The suction line 6 is connected to a vacuum pump 9 after a vacuum gauge 6A and an electromagnetic valve 6B are provided. Here, the base 21 may have a convex portion or the like instead of the concave portion 23 as means for positioning the component fixing portion 3.

  The component fixing part 3 has a holder 25 for accommodating optical components on the upper surface, and the holder 25 has five receiving grooves 26, 27, 28, 29, and 30 recessed. These housing grooves 26 to 30 are formed for positioning and housing the optical components 31, 32, 33, 34, and 35 one by one. For this reason, each accommodation groove 26-30 has a different shape according to the shape of the optical components 31-35, respectively.

  Each of the optical components 31 to 35 is accommodated one by one in each of the accommodation grooves 26 to 30 and is adsorbed by suction holes (not shown) formed in the respective accommodation grooves 26 to 30. Here, the optical components 31 to 35 include a lens and a mirror. Further, the suction holes formed in the housing grooves 26 to 30 are connected to the suction line 7 via a port 37 provided on the side portion of the component fixing portion 3. The suction line 7 is connected to a vacuum pump 9 after a vacuum gauge 7A and a solenoid valve 7B are provided.

  Here, the number and type of the accommodation grooves 26 to 30 are not limited to those illustrated. Moreover, the holder 25 should just be the structure which can adsorb and hold the optical components 31-35, and does not need to have the accommodation grooves 26-30.

Next, the gripping / moving device 4 will be described.
The gripping and moving device 4 is fixed to the side portion 22 of the housing portion 2, and includes a guide portion 41 disposed above the component fixing portion 3 and a pressing portion 42 disposed above the guide portion 41 so as to be movable up and down. And have.
The guide part 41 is fixed to the side part 22 of the housing part 2 on the back side. On the front surface 41 </ b> A of the guide portion 41, five gripping grooves 51 extending from the upper surface to the lower end of the guide portion 41 are formed. The five gripping grooves 51 extend parallel to the vertical direction. The arrangement interval of the gripping grooves 51 is equal to the arrangement interval of the receiving grooves 26 to 30 of the component fixing unit 3 arranged below.

  As shown in FIG. 2A, the grip groove 51 has a U-shaped cross section. The grip groove 51 is open on the front surface 41 </ b> A side of the guide portion 41, and a curved surface portion 51 </ b> B corresponding to the bottom portion of the grip groove 51 is disposed on the back surface side of the guide portion 41. Here, the width WD1 of the open end of the gripping groove 51, that is, the distance between the pair of side walls 51A is larger than the diameter of the columnar member 61 that is the gripping object. Accordingly, the columnar member 61 that is the adjustment shaft can be inserted into the gripping groove 51 from the front surface 41 </ b> A of the guide portion 41. The curvature of the curved surface portion 51 </ b> B of the gripping groove 51 is slightly smaller than the curvature of the curved surface 61 </ b> A on the side portion of the cylindrical member 61. For example, when the radius of the columnar member 61 is 2 mm, the curved surface portion 51B has a shape corresponding to a semicircle having a radius of about 2.05 mm. For this reason, as shown in FIG. 2B, when the cylindrical member 61 is inserted deep into the gripping groove 51, a slight gap is formed between both side portions of the curved surface portion 51 </ b> B of the gripping groove 51 and the curved surface 61 </ b> A of the cylindrical member 61. Is done.

  Further, as shown in FIG. 1, FIG. 3, which is a partially enlarged front view of FIG. 1, and FIG. 4, which is a side sectional view, a grip groove 51 is vertically divided in the front surface 41 </ b> A of the guide portion 41. An escape portion 53 is formed as a recessed portion. The escape portions 53 are formed by denting the guide portions 41 from the front surface 41 </ b> A side, and are formed one by one for each gripping groove 51. The escape portion 53 is formed at the center of the guide portion 41 in the vertical direction, and the shape of the escape portion 53 on the front surface 41A of the guide portion 41 is an ellipse. The width WD2 of the escape portion 53 is larger than the width WD1 of the open end of the grip groove 51. As shown in FIG. 4, the depth DT <b> 2 of the escape portion 53 is greater than the depth DT <b> 1 of the grip groove 51 in the direction from the front surface 41 </ b> A to the back surface of the guide portion 41.

  As shown in FIG. 3, one suction hole 55 is formed in each of the upper portion 51 </ b> U and the lower portion 51 </ b> L of the grip groove 51 divided by the escape portion 53. Each suction hole 55 is formed in the approximate center of each of the portions 51U and 51L in the height direction, and the diameter thereof is smaller than the diameter of the columnar member 61. Further, the distance L1 between the two suction holes 55 is smaller than the value obtained by subtracting the amount of movement of the columnar member 61, which will be described in detail later, from the length of the columnar member 61. Each suction hole 55 is connected to the suction line 8 via a port 56 on the side surface of the guide portion 41 shown in FIG. The suction line 8 is connected to a vacuum pump 9 after a vacuum gauge 8A and an electromagnetic valve 8B are provided.

  Here, by forming the escape portion 53, the gripping groove 51 comes into contact with the cylindrical member 61 only by the upper portion 51U and the lower portion 51L. For this reason, a contact surface becomes small compared with the case where it contacts the cylindrical member 61 in the full length of the holding groove 51. Further, since the curvature of the curved surface portion 51B of the grip groove 51 is slightly smaller than the curvature of the cylindrical member 61, when the cylindrical member 61 is brought into close contact with the curved surface portion 51B of the grip groove 51, a slight gap is formed between them. Thus, the contact surface is smaller than that of the fitting structure. Further, since the columnar member 61 is in close contact with the curved surface portion 51 </ b> B of the gripping groove 51 through the suction hole 55, it is positioned and held with respect to the gripping groove 51. Here, since the difference between the curvature of the cylindrical member 61 and the curvature of the curved surface portion 51B of the gripping groove 51 is small, the gap between them is small. For this reason, it is easy to guide the center of the cylindrical member 61 to the center of the suction hole 55. Further, leakage from the suction hole 55 can be reduced.

  One escape portion 53 is formed in each gripping groove 51, but one escape portion 53 may be formed so as to cross all the gripping grooves 51. Further, the shape of the relief portion 53 on the front surface 41A of the guide portion 41 may be a shape other than an ellipse, such as a circle or a rectangle.

  As shown in FIG. 1, the pressing portion 42 is movable in the vertical direction along the side portion 22 of the housing portion 2 by the linear guide, that is, close to or away from the guide portion 41. Further, a plurality of pins 57 extend downward from the lower surface of the pressing portion 42. Each pin 57 is a pressing member supported in the pressing portion 42 via a buffer mechanism using a spring (not shown). The number and arrangement interval of the pins 57 are matched with the number and arrangement of the gripping grooves 51 of the guide portion 41. Accordingly, it is possible to press the cylindrical members 61 each holding the pins 57 in the gripping grooves 51 one by one. The lower end (tip) of the pin 57 is processed into a spherical surface, and the diameter of the pin 57 is smaller than the width of the narrowest portion of the grip groove 51 of the guide portion 41 disposed below.

  In addition, the control device 11 is configured to execute a step of gripping and moving the column member 61 and a step of bonding the column member 61 to the optical components 31 to 35 by executing a predetermined program, for example. Yes. In this embodiment, the control device 11 performs operations such as an air pressure control unit 15 that controls the suction lines 6 to 8 and the vacuum pump 9, a curing control unit 16 that controls the UV irradiator 10, and a pressing unit 42. The function is divided into a device control unit 17 to be controlled.

  Next, the process of gripping and moving the cylindrical member 61 using the attachment device 1 including the gripping moving apparatus 4 and the process of bonding the cylindrical member 61 to the optical components 31 to 35 are mainly shown in the flowcharts of FIGS. 5A and 5B. The description will be given with reference.

  First, in step S101 of FIG. 5A, the pneumatic control unit 15 operates the vacuum pump 9 and opens the electromagnetic valves 6B to 8B of the suction lines 6 to 8, and the casing unit 2 and the component fixing unit 3 are opened. Then, evacuation of the guide part 41 is started.

  In subsequent step S <b> 102, the optical components 31 to 35 are installed in the receiving grooves 26 to 30 of the component fixing unit 3. The optical components 31 to 35 are positioned and held by suction by the receiving grooves 26 to 30 of the holder 25. For example, as shown in FIG. 6A, the optical component 32 is accommodated in the accommodating groove 27 of the component fixing portion 3, and is adsorbed and held by the adsorbing hole 27A.

  Here, in step S103, the air pressure control unit 15 checks the vacuum pressure of the suction line 7 that sucks the optical components 31 to 35 with the pressure sensor 7B. If the vacuum pressure in the suction line 7 is equal to or higher than a predetermined value (Yes in Step S103), the process returns to Step S102. This is because when the pressure of the suction line 7 is high, the optical components 31 to 35 may not be correctly sucked and held by the component fixing unit 3, so that the optical components 31 to 35 are correctly installed on the component fixing unit 3. It is because it is necessary to confirm whether it is.

  On the other hand, if the vacuum pressure of the suction line 7 of the optical components 31 to 35 is smaller than the specified value (No in step S103), the pneumatic control unit 15 sets the optical components 31 to 35 correctly in the component fixing unit 3. And the process proceeds to step S104.

  In step S104, the component fixing unit 3 is attached to a predetermined position on the base 21 of the housing unit 2 and is sucked and held. Here, the air pressure control unit 15 checks the vacuum pressure of the suction line 6 of the component fixing unit 3 with the pressure sensor 6B. If the vacuum pressure in the suction line 6 is equal to or higher than a predetermined value (Yes in Step S105), the process returns to Step S104. This is because when the vacuum pressure of the suction line 6 is high, there is a possibility that the component fixing portion 3 is not correctly sucked and held by the base 21, and that the component fixing portion 3 is correctly installed on the base 21. This is because it is necessary to confirm.

  On the other hand, if the vacuum pressure of the suction line 6 of the component fixing unit 3 is smaller than the specified value (No in step S105), the pneumatic control unit 15 indicates that the component fixing unit 3 is correctly installed on the base 21. Determine and proceed to step S106.

  In step S <b> 106, the adhesive 62 is applied to the cylindrical member 61. Subsequently, the cylindrical member 61 is attached to the guide portion 41 in step S107. As shown in FIG. 6A, the columnar member 61 is inserted into the holding groove 51 from the front surface 41 </ b> A of the guide portion 41 so that the end portion to which the adhesive 62 is applied is disposed on the lower side, and the two suction holes 55. Is gripped by.

  Here, the length of the cylindrical member 61 is larger than the length of the guide portion 41, that is, the length of the gripping groove 51. Therefore, the upper end portion and the lower end portion of the columnar member 61 protrude from the upper surface and the lower surface of the guide portion 41, respectively. Since the guide portion 41 is formed with the escape portion 53, only the upper part and the lower part of the cylindrical member 61 are in contact with the guide part 41.

  Further, as shown in the plan view of FIG. 6B, the curvature of the curved surface portion 51B at the back of the gripping groove 51 is slightly smaller than the curvature of the cylindrical member 61, so that the wall surface of the gripping groove 51 and the curved surface 61A of the cylindrical member 61 are in contact with each other. The area is small. Further, the curved surface 61 </ b> A of the cylindrical member 61 is sucked and held in the gripping groove 51 of the guide portion 41 at one place on the upper side and one place on the lower side by the suction holes 55. Since the suction holes 55 are spaced apart from each other in the vertical direction, the cylindrical member 61 can be stably suctioned and held, and the displacement of the cylindrical member 61 after suction is unlikely to occur. Since the diameter of the suction hole 55 is smaller than the diameter of the cylindrical member 61, there is little air leakage, and the cylindrical member 61 is securely held by suction.

  Next, in step S108 of FIG. 5A, the pneumatic pressure control unit 15 checks the vacuum pressure of the suction line 8 of the cylindrical member 61 with the pressure sensor 8B. If the vacuum pressure of the suction line 8 is equal to or lower than a predetermined value (Yes in Step S108), the process returns to Step S107. This is because when the pressure of the suction line 8 is high, the columnar member 61 may not be correctly sucked and held by the guide portion 41, and it is confirmed that the columnar member 61 is correctly installed on the guide portion 41. It is necessary.

  On the other hand, if the vacuum pressure of the suction line 8 of the columnar member 61 is smaller than the specified value (No in step S108), the pneumatic pressure control unit 15 determines that the columnar member 61 is correctly installed on the guide unit 41. Then, step S109 of FIG.

  In step S109 of FIG. 5B, the device control unit 17 moves the pressing unit 42 in the direction from the initial position. At this time, as shown in step S110, the device control unit 17 lowers the pressing unit 42 to a distance corresponding to a predetermined specified value. As a result, the lower end of the pin 57 extending downward from the pressing portion 42 is pressed against the cylindrical member 61. Further, when the pressing portion 42 is lowered, the cylindrical member 61 is moved downward by being pushed by the pin 57, and the protruding amount changes from the lower end of the guide portion 41. Since the cylindrical member 61 is only held by the guide portion 41 with the two suction holes 55, it is smoothly moved downward along the gripping groove 51 by being pushed by the pin 57.

  The specified value in step S110 is a distance such that all the cylindrical members 61 pressed by the pins 57 are in contact with the upper surfaces of the optical components 31 to 35. Here, when the cylindrical member 61 is attracted and held by the guide portion 41, the height of the cylindrical member 61 may vary. However, since the pin 57 is supported by the pressing portion 42 via the buffer mechanism, the pressing portion 42 moves the cylindrical member 61 by a predetermined distance while absorbing the variation in the height of each cylindrical member 61. And press firmly against the optical components 31-35.

An example of the arrangement of the cylindrical member 61 and the optical component 32 when the amount of movement of the pressing portion 42 reaches a specified value is shown in FIG. 6B.
The columnar member 61 pushed down by the pin 57 slides downward along the grip groove 51 of the guide portion 41, and comes into contact with the optical component 32 by changing the protruding amount. At this time, the columnar member 61 moves smoothly along the gripping groove 51. This is because the contact area between the grip groove 51 of the guide portion 41 and the cylindrical member 61 is small. Furthermore, this is because the contact area between the grip groove 51 of the guide portion 41 and the columnar member 61 is further reduced by the escape portion 53 at the center in the vertical direction of the grip groove 51.

  Further, since the distance L1 between the two suction holes 55 of the guide portion 41 is smaller than the value L2 obtained by subtracting the movement amount of the cylindrical member 61 from the length of the cylindrical member 61, the cylindrical member 61 always has two suction holes 55. Keep the state adsorbed by. Therefore, the columnar member 61 is abutted against the optical component 32 vertically without breaking the posture.

  Further, in step S111 of FIG. 5B, the air pressure control unit 15 checks the vacuum pressure of the suction line 7 of the cylindrical member 61 by the pressure sensor 7B. If the vacuum pressure in the suction line 7 is equal to or higher than a predetermined value (Yes in Step S111), the pressing portion 42 is raised in Step S112 to return the pin 57 to the initial position, and the process returns to Step S109. . This is because there is a possibility that the position of the cylindrical member 61 has shifted when the pressure of the suction line 7 is high, when the cylindrical member 61 is pushed down, or when the cylindrical member 61 is pressed against the optical components 31 to 35. This is because the posture of the columnar member 61 needs to be confirmed.

  On the other hand, if the vacuum pressure of the suction line 7 examined by the air pressure control unit 15 is smaller than the specified value (No in step S111), the pressing unit 42 is raised in step S113 to return the pin 57 to the initial position. This is to prevent the cylindrical member 61 from being stressed when the adhesive 62 is cured. As a result, as shown in FIG. 6C, the cylindrical member 61 stands vertically on the optical component 32, and is supported by the guide portion 41 through the two suction holes 55.

  Subsequently, the adhesive 62 is cured in step S114 of FIG. 5B. The adhesive 62 is cured by the curing control unit 16 irradiating the UV light from the UV irradiator 10. The UV light may be irradiated in the state shown in FIG. 1, or after the mounting apparatus 1 is inclined so that the contact portion between the cylindrical member 61 and the optical components 31 to 35 faces upward, the UV light is irradiated from above. You may do it. Since the columnar member 61 and the optical components 31 to 35 are both positioned and held by vacuum suction, the positions of the both do not shift even when the mounting device 1 is tilted.

  In step S115, the curing control unit 16 counts the elapsed time from the start of UV light irradiation as the curing time. When the curing time reaches a predetermined specified value, the process proceeds to step S116, and the pneumatic control unit 15 releases the vacuum suction of the component fixing unit 3, the optical components 31 to 35, and the cylindrical member 61.

  Thereafter, the component fixing portion 3 is taken out from the base 21 of the housing 2 in step S117. Furthermore, in step S <b> 118, the optical components 31 to 35 to which the columnar member 61 is bonded are collected from the component fixing unit 3. As shown in FIG. 6D, an optical component unit 65 in which the cylindrical member 61 is bonded to the upper surface of the optical component 32 with an adhesive 62 is obtained. The optical component unit 65 is attached to other components while the cylindrical member 61 is gripped by a handling device (not shown), and positioning and optical axis adjustment are performed. After attaching the optical component 32 to another component, an external force is applied to remove the cylindrical member 61 from the optical component 32.

  As described above, in the gripping and moving device 4 of this embodiment, the cylindrical member 61 is positioned at the center of the gripping groove 51 by the curved surface portion 51 </ b> B and securely held by the guide portion 41 by the two suction holes 55. Can be made. Further, since the pin 57 is pressed from above while positioning and holding the cylindrical member 61, the cylindrical member 61 can be moved to a desired place while preventing the positional displacement of the cylindrical member 61. . The amount of protrusion of the cylindrical member 61 from the guide portion 41 can be easily controlled by the amount of movement of the pressing portion 42.

  In addition, since the curvature of the curved surface portion 51B of the grip groove 51 is slightly smaller than the curvature of the cylindrical member 61, the cylindrical member 61 can be easily inserted into and removed from the grip groove 51, and the grip groove 51 and the cylindrical member 61 The contact area can be reduced. Furthermore, it is easy to arrange the cylindrical member 61 at the center of the gripping groove 51. The cylindrical member 61 was made to contact the gripping groove 51 only at the upper part and the lower part. From this, the friction when moving the cylindrical member 61 downward is reduced, so that it is possible to prevent the displacement of the cylindrical member 61 during the movement. Since the cylindrical member 61 is adsorbed at two places that are separated from each other in the vertical direction, it is possible to prevent a positional shift when the cylindrical member 61 is moved.

  Furthermore, in the attachment device 1 of this embodiment, the cylindrical member 61 can be positioned and brought into contact with the optical components 31 to 35 by including the gripping and moving device 4. Compared with the case where the optical components 31 to 35 are moved, the relative positions of the cylindrical member 61 and the optical components 31 to 35 can be easily controlled. Further, since the cylindrical member 61 coated with the adhesive 62 is gripped and moved and abutted against the optical components 31 to 35, the adhesive 62 is cured, so that the optical components 31 to 35 are positioned and adjusted for the optical axis. Can be attached with high accuracy.

  In the conventional attachment device, in order to remove the column member from the semi-cylindrical groove after the column member is bonded, it is necessary to release the fitting between the column member and the semi-cylindrical groove. When the fitting between the columnar member and the semi-cylindrical groove is released, a force is applied to the columnar member so that the bonding angle of the columnar member with respect to the substrate is shifted and the bonding strength may be reduced. On the other hand, the attachment device 1 has the adhesive strength at the time of removal of the optical component unit 65 because the optical component unit 65 in which the cylindrical member 61 is set on the optical components 31 to 35 is only sucked and held by the attachment device 1. Decline and misalignment can be prevented.

Here, the elongated cylindrical member 61 is not limited to the optical axis adjusting axis. Moreover, the attachment apparatus 1 may abut the cylindrical member 61 on another component instead of the optical components 31 to 35.
Moreover, the shape of the holding groove 51 is not limited to FIG. 2A, For example, a semicircle shape and an elliptical shape may be sufficient. In addition, the side wall 51A of the grip groove 51 may be inclined so as to open toward the front surface 41A of the guide portion 41.

  All examples and conditional expressions given here are intended to help the reader understand the inventions and concepts that have contributed to the promotion of technology, and such examples and It is to be construed without being limited to the conditions, and the organization of such examples in the specification is not related to showing the superiority or inferiority of the present invention. While embodiments of the present invention have been described in detail, various changes, substitutions and variations can be made thereto without departing from the spirit and scope of the present invention.

The features of the above embodiment will be added below.
(Appendix 1)
A cylindrical member can be inserted and has a curved surface portion having a curvature smaller than the curvature of the cylindrical member, and an adsorption hole is formed in the curved surface portion, and the curved surface on the side of the cylindrical member is adsorbed by the adsorption hole. Thus, the guide portion that holds the cylindrical member on the curved surface portion, the pressing portion that presses the cylindrical member inserted in the curved surface portion in the axial direction of the cylindrical member, and the guide portion are held by suction. And a control unit that moves the columnar member along the curved surface by the pressing unit and changes a protruding amount of the columnar member from the guide unit.
(Additional remark 2) The holding | grip movement apparatus of Additional remark 1 characterized by the above-mentioned.
(Additional remark 3) It has the recessed part which divides the said curved-surface part into two, The said adsorption hole is formed in each area | region of the said curved-surface part divided | segmented into two by the said recessed part, It is characterized by the above-mentioned. The gripping and moving device according to Supplementary Note 1 or Supplementary Note 2.
(Supplementary note 4) The distance between the suction holes is smaller than a value obtained by subtracting the amount of movement of the cylindrical member from the length of the cylindrical member, according to any one of supplementary notes 1 to 3, Gripping and moving device.
(Additional remark 5) The said curved surface part is formed of the U-shaped groove | channel formed in the front surface of the said guide part, The holding | gripping movement apparatus as described in any one of Additional remark 1 thru | or Additional remark 4 characterized by the above-mentioned.
(Supplementary note 6) The gripping and moving device according to any one of supplementary notes 1 to 5, wherein a length of the groove is shorter than the cylindrical member.
(Supplementary note 7) The gripping and moving device according to any one of supplementary notes 1 to 6, wherein the workpiece is an optical component, and the cylindrical member is a shaft member for adjusting an optical axis of the workpiece.
(Additional remark 8) The holding | grip movement apparatus as described in any one of additional remark 1 thru | or appendix 7, and the fixing | fixed part holding a workpiece | work, The said control part presses until the said cylindrical member contact | abuts to the said workpiece | work. An apparatus for attaching a cylindrical part, wherein the part is moved.
(Additional remark 9) It has an adhesion | attachment apparatus which adhere | attaches the said cylindrical member to the said workpiece | work, The attachment apparatus of the cylindrical member of Additional remark 8 characterized by the above-mentioned.
(Additional remark 10) A cylindrical member is inserted in the curved surface part formed in the guide part, and the cylindrical member is adsorbed and held by adsorbing the curved surface of the side part of the cylindrical member using the adsorption holes formed in the curved surface part. And a step of bringing a pressing member into contact with one end of the cylindrical member; and a state in which the cylindrical member is pressed in the axial direction of the cylindrical member by the pressing member and the cylindrical member is sucked and held by the guide portion. A gripping movement method comprising the steps of:
(Supplementary note 11) The gripping and moving method according to supplementary note 10, wherein the step of moving the cylindrical member includes a step of bringing the cylindrical member into contact with a workpiece disposed at a predetermined distance from the guide portion.
(Supplementary Note 12) In the step of attracting and holding the cylindrical member to the guide portion at a plurality of locations and moving the cylindrical member, the cylindrical member is attracted and retained at a plurality of locations while the cylindrical member is moved. The holding and moving method according to Supplementary Note 10 or Supplementary Note 11.
(Additional remark 13) The process of any one of Additional remark 10 thru | or Additional remark 12, and the process of hardening the supplied adhesive agent between the said cylindrical member and the said workpiece | work, The cylindrical member characterized by the above-mentioned. Bonding method.
(Additional remark 14) The method of adhering the cylindrical member of Additional remark 14 characterized by including the process of separating the said press part from the said cylindrical member before hardening of an adhesive agent.
(Supplementary Note 15) A step of adsorbing and holding the side surface of the columnar member at the curved surface portion formed in the guide unit, and pressing the columnar member in the axial direction of the columnar member and holding the columnar member while adsorbing the columnar member A method for joining cylindrical members, comprising: a step of moving a member to bring an end of the cylindrical member into contact with another component; and a step of joining the cylindrical member and the other component. )

DESCRIPTION OF SYMBOLS 1 Attachment apparatus 3 Component fixing part 4 Grasping movement apparatus 10 Ultraviolet irradiation device (adhesion apparatus)
DESCRIPTION OF SYMBOLS 11 Control part 31,32,33,34,35 Optical component 41 Guide part 42 Pressing part 51 Holding groove 51B Curved part 53 Recessed part 55 Adsorption hole 61 Cylindrical member

Claims (6)

A cylindrical member can be inserted and has a curved surface portion having a curvature smaller than the curvature of the cylindrical member, and an adsorption hole is formed in the curved surface portion, and the curved surface on the side of the cylindrical member is adsorbed by the adsorption hole. A guide portion for gripping the cylindrical member on the curved surface portion,
A pressing portion that presses the cylindrical member inserted into the curved surface portion in the axial direction of the cylindrical member;
A control unit that moves the cylindrical member along the curved surface portion by the pressing portion while adsorbing and holding the guide portion, and changes a protruding amount of the cylindrical member from the guide portion;
A gripping and moving device comprising:   The gripping and moving device according to claim 1, wherein a plurality of suction holes are formed in the curved surface portion.   The concave portion that divides the curved portion into two, and the suction holes are formed one by one in each region of the curved portion divided into two by the concave portion. The holding | grip movement apparatus of Claim 2. A gripping and moving device according to any one of claims 1 to 3,
A fixed part for holding the workpiece;
The control part moves the pressing part until the cylindrical member abuts on the work. Inserting the cylindrical member into the curved surface portion formed in the guide portion, and sucking and holding the cylindrical member by sucking the curved surface of the side portion of the cylindrical member using the suction holes formed in the curved surface portion;
Contacting the pressing member with one end of the cylindrical member;
Pressing the columnar member in the axial direction of the columnar member with the pressing member, and moving the columnar member while being attracted and held by the guide part; and
A gripping and moving method comprising:   The gripping movement method according to claim 5, wherein the step of moving the columnar member includes a step of bringing the columnar member into contact with a workpiece disposed at a predetermined distance from the guide portion.

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