JP2021133448A - Suction type holding member, method for manufacturing the same, suction type holding device and transportation system - Google Patents

Abstract

To provide a suction type holding member that can perform accurate positioning and prevent air leakage.SOLUTION: A suction type holding member for sucking and holding an object while abutting thereon includes an insertion part to be inserted so as to block a recess part of the object or an opening of a through-hole in sucking the object. The insertion part is inclined toward the tip thereof.SELECTED DRAWING: Figure 2

Description

The present invention relates to a suction type holding member, a method for manufacturing the suction type holding member, a suction type holding device, and a transfer system.

Conventionally, when automatically transporting a printed circuit board or the like, it can be held by directly sucking the place where the electronic component of the printed circuit board is mounted with a suction pad, but there is a risk of damaging or destroying the electronic component, and the suction holding position. There is a problem that is limited.
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, it will be a highly versatile suction holding method. Since the air sealing of the through hole is insufficient, air leaks from the through hole, and there is a problem that the printed circuit board cannot be sufficiently sucked and held.

Therefore, as a suction pad suitable for sucking and holding a printed circuit board or the like having a through hole as described above, for example, a sealing rubber for preventing vacuum leakage and a guide that can be positioned based on the through hole. A suction pad for transport has been proposed which has a fixing screw and is capable of suction even if there are holes, burrs, irregularities, or rough surfaces in a range located in the suction portion (see, for example, Patent Document 1).

However, in the suction pad as disclosed in the prior art, in order to seal the through hole of the printed circuit board, it is necessary to press the flat surface on the outer periphery of the through hole, and there is a limitation in the applicable place.

An object of the present invention is to provide a suction type holding member capable of accurate positioning and prevention of air leakage.

The suction-type holding member of the present invention as a means for solving the above-mentioned problems is a suction-type holding member for abutting and holding the object in contact with the object, and is a recess of the object when the object is sucked. Alternatively, it has an insertion portion that is inserted so as to close the opening of the through hole, and the insertion portion is inclined toward the tip thereof.

According to the present invention, it is possible to provide a suction type holding member capable of accurate positioning and prevention of air leakage.

FIG. 1 is a schematic perspective view showing an example of a suction type holding member according to the first embodiment. FIG. 2 is a schematic cross-sectional view showing an example of a suction type holding member according to the first embodiment along the line AA of FIG. FIG. 3 is a schematic cross-sectional view showing an example of a suction type holding member according to the first embodiment in line BB of FIG. 4A to 4D are views for explaining an example of a suction holding operation of an object using the suction type holding member according to the first embodiment, and FIG. 4A is a cross-sectional view of the suction type holding member when the suction type holding member is not sucked. Is. 4A to 4D are views for explaining an example of a suction holding operation of the object using the suction type holding member according to the first embodiment, and FIG. 4B is a diagram in which the suction type holding member comes into contact with the object. It is a schematic cross-sectional view which shows the state which vacuum suction started. 4A to 4D are views for explaining an example of a suction holding operation of an object using the suction type holding member according to the first embodiment, and FIG. 4C shows a space between the suction type holding member and the object. It is a schematic cross-sectional view which shows the state in which the suction force is generated in the vacuum state. 4A to 4D are views for explaining an example of a suction holding operation of the object using the suction type holding member according to the first embodiment, and FIG. 4D shows air after the object is conveyed to a target position. It is a schematic cross-sectional view which shows the state which stops the suction and the object falls off by its own weight. FIG. 5 is a schematic cross-sectional view showing an example of the suction type holding member according to the second embodiment along the line AA of FIG. FIG. 6 is a schematic cross-sectional view showing an example of the suction type holding member according to the second embodiment shown in line BB of FIG. 7A to 7D are views for explaining an example of a suction holding operation of the object using the suction type holding member according to the second embodiment, and FIG. 7A is a cross-sectional view of the suction type holding member when the suction type holding member is not sucked. Is. 7A to 7D are views for explaining an example of a suction holding operation of the object using the suction type holding member according to the second embodiment, and FIG. 7B is a diagram in which the suction type holding member comes into contact with the object. It is a schematic cross-sectional view which shows the state which vacuum suction started. 7A to 7D are views for explaining an example of a suction holding operation of the object using the suction type holding member according to the second embodiment, and FIG. 7C shows a space between the suction type holding member and the object. It is a schematic cross-sectional view which shows the state in which the suction force is generated in the vacuum state. 7A to 7D are views for explaining an example of a suction holding operation of the object using the suction type holding member according to the second embodiment, and FIG. 7D is a diagram showing an example of the suction holding operation of the object after the object is conveyed to a target position and then air. It is a schematic cross-sectional view which shows the state which stops the suction and the object falls off by its own weight. FIG. 8 is a schematic perspective view showing an example of the suction type holding member according to the third embodiment. FIG. 9 is a schematic cross-sectional view showing an example of the suction type holding member according to the fourth embodiment along the line AA of FIG. FIG. 10 is a schematic cross-sectional view showing an example of the suction type holding member according to the fourth embodiment shown in line BB of FIG. FIG. 11 is a schematic view showing an example of a situation in which an adsorption force measurement test is being carried out using a suction type holding device. FIG. 12 is a photograph showing an example of carrying out an adsorption force measurement test using a suction type holding device. FIG. 13 is a schematic view showing an example of a situation in which a durability evaluation test is being carried out using a suction type holding device. FIG. 14 is a photograph showing an example of performing a durability evaluation test using a suction type holding device. FIG. 15 is a schematic view of an inkjet three-dimensional printer. FIG. 16 is a schematic view of the suction type holding member manufactured by the three-dimensional printer shown in FIG. 15 peeled off from the support material. FIG. 17 is a schematic view of a stereolithography type three-dimensional printer.

(Suction type holding member)
The suction-type holding member of the present invention is a suction-type holding member for abutting and holding the object by abutting the object so as to close the recess or the opening of the through hole of the object when the object is sucked. It has an insertion part to be inserted, the insertion part is inclined toward the tip thereof, and preferably has a support contact part, an exposed opening part, a hollow part, and a flow path, and further, if necessary. It has other parts.
The suction type holding member may also be referred to as a "suction pad" or a "vacuum pad".

In the suction pad of the prior art, in order to seal the through hole of the printed circuit board as the object, it is necessary to press the flat surface of the outer circumference of the through hole of the object, and an extra area slightly larger than the outer circumference of the through hole is required. Is required. On the other hand, the suction type holding member of the present invention can prevent air leakage by the insertion portion biting into the recess of the object or the edge of the opening of the through hole when sucking the object, as in the prior art. Since no extra area is required and the suction force for the object is determined by the internal pressure and the area, the size of the support contact portion can be minimized.

Therefore, the suction-type holding member of the present invention is a suction-type holding member for abutting and holding the object by abutting the object, and closes the recess or the opening of the through hole of the object when the object is sucked. Since the insertion portion is provided so as to be inserted and the insertion portion is inclined toward the tip thereof, both accurate positioning and air leakage sealing can be achieved at the same time.

The suction-type holding member of the present invention is not particularly limited in shape, size, material, structure, etc. as long as it can suck and hold the object, and can be appropriately selected depending on the intended purpose.
An elastic material is preferable as the material of the suction type holding member, and the elastic material includes, for example, nitrile rubber, silicone rubber, natural rubber, polyurethane resin, polyvinyl chloride resin, fluororubber, chloroprene rubber, and ethylene propylene rubber. And so on. These may be used alone or in combination of two or more.
The shore D hardness of the suction type holding member varies depending on the size and shape of the suction type holding member and the material of the rubber. For example, in the case of the shape shown in FIG. 1, a silicone rubber having a shore D hardness of 32 or more and 40 or less is used. Can be selected. If the suction type holding member is too hard, it is not elastic and therefore inflexible, and the force for sucking and holding the object may decrease. On the other hand, if the suction type holding member is too soft, the holding force for blocking the air flow may decrease.
The shore D hardness can be measured using, for example, a shore D hardness tester.
The shape, size, and structure of the suction type holding member are not particularly limited and may be appropriately selected depending on the intended purpose.

<Object>
The shape, size, structure, material, etc. of the object are not particularly limited as long as they can be suction-held by the suction-type holding member, and can be appropriately selected according to the purpose. Examples include coils for parts and automobile parts, spacers, washers, pulleys, lenses, printed circuit boards, glass substrates, pots for horticulture, and the like.

The object has a recess or a through hole into which the insertion portion of the suction type holding member is inserted. Among these, a through hole is preferable from the viewpoint of adsorption force to the object. Accurate positioning and prevention of air leakage can be realized by inserting the insertion portion into the opening of the recess or the through hole.

The shape, size, number, structure, arrangement, etc. of the through holes are not particularly limited and can be appropriately selected according to the purpose.
Examples of the shape of the through hole include a polygon 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 irregular shape.
The size of the through hole is not particularly limited and can be appropriately selected according to the size of the insertion portion of the suction type holding member.
The size, number, structure, arrangement, etc. of the recesses are not particularly limited and can be appropriately selected according to the purpose.

<Insert>
The insertion portion is inserted so as to close the recess or the opening of the through hole of the object when the object is sucked. If the insertion portion is inserted so as to close the recess or the opening of the through hole of the object, fluid cannot flow, and the insertion portion and the recess or the opening of the through hole come into contact with each other without a gap.
The shape, size, structure, and material of the insertion portion are not particularly limited and may be appropriately selected depending on the intended purpose.
The shape of the insertion portion can be appropriately selected according to the shape and size of the concave or through hole, and the shape includes, for example, a protruding, convex substantially truncated cone, or convex substantially pyramidal cone. Can be mentioned.
The insertion portion is preferably formed integrally with the suction type holding member and is made of the same material as the suction type holding member.

The insertion portion is inclined toward the tip thereof, and preferably has a tapered surface that is inclined so as to gradually approach the center line of the insertion portion. Since the insertion portion is inclined toward the tip, positioning of the object in the recess or through hole and prevention of air leakage can be realized at the same time. Further, by having a tapered surface inclined so as to gradually approach the center line of the insertion portion toward the tip of the insertion portion, the insertion portion can be inserted deeply when the recess or the through hole is slightly large, and the recess can be inserted. Alternatively, if the through hole is a little small, inserting the insertion part shallowly improves the positioning of the suction type holding member with respect to the variation in the diameter of the recess or the opening of the through hole, and the robustness when sucking the object. do.
Further, the suction type holding member of the present invention can prevent air leakage by the insertion portion biting into the recess of the object or the edge of the opening of the through hole when sucking the object, so that the object as in the prior art can be prevented. The size of the support contact portion can be minimized without requiring an extra area for pressing the flat surface on the outer periphery of the through hole.

It is preferable that the insertion portion is inclined at a plurality of different inclination angles. Change the taper angle of the insertion part so that the tip of the insertion part can be easily inserted with respect to the taper angle of the recess or through hole of the object (make it a large angle with respect to the wall surface of the opening of the recess or through hole). Therefore, it is possible to correct the misalignment of the central axis between the recess or the through hole and the suction type holding member.
The insertion portion preferably has a first tapered surface on the tip end side of the insertion portion and a second tapered surface on the root side of the insertion portion (hereinafter, may be referred to as "two-step taper"). ..
In the first tapered surface, when the insertion portion is inserted into the recess or through hole, the insertion portion, which has a similar shape to the recess or through hole, guides the insertion. For example, when the object is a substrate having a thickness of 1.4 mm, the taper angle of the first tapered surface is preferably 10 ° or more and 30 ° or less, and more preferably 15 ° or more and 25 ° or less. When the taper angle of the first tapered 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 second tapered surface comes into direct contact with the outer peripheral wall of the recess or through hole opening to prevent air leakage from the recess or through hole. For example, when the object is a substrate having a thickness of 1.4 mm, the taper angle of the second tapered 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 second tapered 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 separated is small, which is good.

<Support contact part>
The support contact portion is provided on the outside of the insertion portion of the suction type holding member, and abuts the object so as to support the object when the object is sucked. The "support contact portion" may also be referred to as a "skirt portion".
The shape, size, structure, and material of the support contact portion are not particularly limited and may be appropriately selected depending on the intended purpose.
It is preferable that the support contact portion is formed integrally with the suction type holding member and is made of the same material as the suction type holding member.
It is preferable that the insertion portion and the support contact portion are integrally formed. Since the insertion part and the support contact part are integrally formed, the problem of air leakage from the connecting part and the adhesive rubber does not occur, the stability of the suction force is improved, and the cost is low due to the integration. And maintenance-free (handled as consumables) can be realized.

When the insertion portion is inserted into the recess or through hole of the object, the support contact portion abuts on the surface of the object, and an airtight space is formed between the insertion portion and the object. When the airtight space is formed, the suction force is improved, and the object can be transported while being sucked and held.
The airtight space becomes a vacuum space by operating a vacuum suction source to suck air, and a sufficient suction force for an object is generated.

<Hollow part, exposed opening>
The suction type holding member is provided in a direction different from that of the support contact portion, and has an exposed opening and a hollow portion that communicates with the exposed opening and has a maximum diameter larger than the maximum diameter of the exposed opening. It is preferable to have.
By having the exposed opening and the hollow portion, it is possible to connect with the joint of the vacuum suction source and realize the suction holding of the object by the operation of the vacuum suction source.
When the maximum diameter of the exposed opening is X (mm), the maximum diameter Y of the hollow portion is preferably 1.3X (mm) or more.
It is difficult to remove the hollow part from the mold in a molded product having a structure consisting of an exposed opening (small diameter) and a hollow part (large diameter) that satisfy the above relationship (however, if an elastic material is used, it can be deformed by deforming it. It can be removed from the mold), and it is difficult to mold with the mold, but even such a complicated shape can be easily molded by using a three-dimensional printer.

<Flow path>
The suction type holding member preferably has a flow path that communicates the hollow portion and the airtight space formed between the hollow portion.
The flow path openings on the airtight space side are provided at one or more locations between the base of the support contact portion and the base of the insertion portion. It is preferable that the flow path openings on the airtight space side are provided at two or more locations and arranged point-symmetrically around the insertion portion. As a result, particularly the initial suction is evenly performed.
The flow path opening (connection portion) on the joint side preferably matches the hole diameter of the joint. As a result, the contact area between the joint and the suction type holding member is large, so that high airtightness is ensured.
Immediately below the flow path opening on the joint side is the base of the insertion portion, and thus both openings of the flow path cannot be arranged coaxially. Further, the outermost diameter of the flow path opening on the joint side is formed to be smaller than the outermost diameter of the insertion portion.
In such a case, the flow path is formed as an undercut portion, and it is extremely difficult to mold the flow path with a mold, but it can be easily formed by using a three-dimensional printer.

<Other departments>
The other parts are not particularly limited and may be appropriately selected according to the purpose.

(Manufacturing method of suction type holding member)
The method for manufacturing a suction-type holding member of the present invention is a method for manufacturing a suction-type holding member that sucks and holds an object, and includes a determination step and a modeling step, and further steps as necessary. including.

<Decision process>
The determining step is the shape, size, structure, number, arrangement of the recess or through hole of the object into which the insertion portion is inserted, and the condition around the recess or through hole, as well as the weight, size, shape of the object. This is a step of determining modeling information of the suction type holding member from at least one type of information selected from, thickness, and material.
Information on the recess or through hole includes shape, size (diameter, depth), structure, number, arrangement, presence or absence of mounting of electronic components around the through hole, and the like.

<Modeling process>
The modeling step is a step of modeling the suction type holding member with a three-dimensional printer based on the determined modeling information of the suction type holding member.
By using a three-dimensional printer, it can be manufactured in a short time at a relatively low cost even if the number is small. In addition, according to the 3D printer, not only can the number of parts be reduced integrally, but also the direction of pulling out in the mold does not need to be considered, so the degree of freedom in the shape of the air flow path inside the suction type holding member is increased. Increase. Therefore, for example, the structural portion connecting the support contact portion, the insertion portion, and the hollow portion can be made thicker, or the area of the hollow portion for connecting the joint connected to the vacuum suction source can be increased, so that suction can be performed. The formula holding member can have a more durable structure.

The three-dimensional printer is not particularly limited and can be appropriately selected according to the purpose. For example, various methods such as Fused Deposition Modeling (FDM), Material Jet Method, Binder Jet Method, Powder Lamination Method, and Stereolithography Method. However, it is preferable to use a method in which the surface to be sucked is as smooth as possible and a method in which an elastic material can be used as the modeling material.
The modeling material includes an elastic material, a polymerizable monomer and a polymerizable oligomer, and further contains other components as necessary. Among these, a material having liquid physical properties such as viscosity and surface tension that can be discharged by a modeling material discharge head used for a modeling material jet printer or the like is preferable.
Examples of the elastic material include nitrile rubber, silicone rubber, natural rubber, polyurethane resin, polyvinyl chloride resin, fluororubber, chloroprene rubber, ethylene propylene rubber and the like. These may be used alone or in combination of two or more.

According to the three-dimensional printer, since the shape of the insertion portion can be shaped according to the shape of the recess or the through hole of the object, it is possible to cope with the case where the opening of the recess or the through hole is other than a circle such as an ellipse. Further, since even a complicated structure can be integrally molded, it is possible to eliminate the connecting portion that causes air leakage and improve the stability of the suction force.
Further, if a three-dimensional printer capable of switching the modeling material during modeling is used, the modeling material can be changed for each part.

When a suction type holding member having the same function is manufactured in large quantities and at low cost, a method using a mold may be adopted instead of the three-dimensional printer.

As the three-dimensional printer, an inkjet three-dimensional printer or a stereolithography three-dimensional printer is preferable.
As the inkjet type three-dimensional printer, a method of ejecting ink by an inkjet (material jet) method or a dispenser method and curing by UV light is used. In the case of these methods, since a plurality of modeling materials can be used, it is possible to provide a distribution in the composition according to each part, not the entire suction type holding member having the same composition.

For example, in the inkjet type three-dimensional printer 10 as shown in FIG. 15, a head unit in which the inkjet heads are arranged is used, and a liquid material for forming a suction type holding member is transferred from the liquid material injection head unit 11 for a modeled body to a support. Liquid material for injection The liquid material for forming a support is injected from the head units 12 and 12, and the liquid material for forming a suction type holding member and the liquid material for forming a support are laminated while being cured by the adjacent ultraviolet irradiators 13 and 13. ..
In order to keep the gap between the liquid material injection head units 11 and 12 and the ultraviolet irradiator 13 and the model 17 and the support 18 constant, the stages 15 are laminated while being lowered according to the number of times of lamination.
In the three-dimensional printer 10, the ultraviolet irradiators 13 and 13 are used when moving in any of the directions of arrows A and B, and the surface of the laminated liquid material for forming a support is generated by the heat generated by the ultraviolet irradiation. Is smoothed, 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, when the suction type holding member 17 and the support 18 are pulled and peeled off in the horizontal direction, the support 18 is peeled off as a unit, and the suction type holding member 17 can be easily taken out.

Further, as shown in FIG. 17, in the optical modeling type three-dimensional printer, the liquid material for forming the suction type holding member is stored in the liquid tank 24, and the ultraviolet laser light 23 emitted from the surface 27 of the liquid tank by the laser light source 21. Is irradiated from the laser scanner 22 to produce a cured product 28 on the modeling stage 26. The modeling stage 26 is lowered by the operation of the piston 25, and by repeating this sequentially, a suction type holding member is obtained.

<Other processes>
The other steps are not particularly limited and may be appropriately selected depending on the intended purpose. Examples thereof include a support material removing step, a control step, and a cleaning step.

(Suction type holding device)
The suction type holding device of the present invention includes at least one suction type holding member of the present invention, a vacuum suction source, and if necessary, other members.
The vacuum suction source is not particularly limited and may be appropriately selected depending on the intended purpose. Examples thereof include a vacuum pump.
By having a plurality of suction type holding members of the present invention, the suction type holding device can suck and hold even an object having a large area and weight and transport it to a target place.
The suction type holding member is fixed to the fixing member, and the joint of the suction type holding member and the vacuum pump are connected by a pipe. An ON / OFF valve may be provided in the middle of the piping, and a pressure regulator or the like may be used. Further, it is preferable that the ON / OFF valve is provided with a leak valve to release the internal pressure.

(Transport system)
The transport system of the present invention is a transport system that sucks and holds an object and transports the object.
The object holding device, a transporting means provided with at least one suction type holding member at the tip thereof, a control means for controlling the operation of the object holding device and the transporting means, and other devices as needed. Have.
Examples of the transporting means include a multi-axis robot and a combination of vertical and horizontal linear motion axes.

<Control means>
The control means stores an operation program required for transportation, and according to the operation program, the positioning operation of the transportation means and the suction operation of the object holding device shown in FIGS. 4A to 4D (suction ON / OFF). ) Is executed. Further, the transfer system is provided with a vacuum sensor, and can reliably determine that the object is sucked and held and perform the transfer operation.

<Other devices>
The other device is not particularly limited and may be appropriately selected depending on the intended purpose.

Here, an embodiment of the suction type holding member and the suction type holding device of the present invention will be described in detail with reference to the drawings.
In each drawing, the same constituent members may be designated by the same reference numerals, and duplicate description may be omitted. Further, the number, position, shape, etc. of the constituent members are not limited to the present embodiment, and can be a preferable number, position, shape, etc. for carrying out the present invention.

<First Embodiment>
FIG. 1 is a schematic perspective view showing an example of a suction type holding member according to the first embodiment, and FIG. 2 is an example of a suction type holding member according to the first embodiment along the line AA of FIG. The schematic cross-sectional view shown, FIG. 3, is a schematic cross-sectional view showing an example of the suction type holding member according to the first embodiment in line BB of FIG.

The suction type holding member 110 according to the first embodiment shown in FIGS. 1 to 3 has an insertion portion 1 and a support contact portion 2. In the first embodiment, the object has a through hole.

The suction type holding member 110 is a member that sucks and holds an object, and has an exposed opening 6, a hollow portion 4 connected to a joint (not shown) connected to a vacuum suction source, and a flow path opening on the joint side. It has a portion (connection portion) 7 and a flow path 5.

The suction type 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 type holding member 110 is preferably around 35. If the suction type holding member 110 is too hard, it is not elastic and therefore inflexible, and the suction holding force of the object may decrease. On the other hand, if the suction type holding member 110 is too soft, the pressing force for blocking the air flow may decrease.

The suction type holding member 110 has an exposed opening 6 that is exposed to the outside, and a hollow portion 4 that communicates with the exposed opening 6 and has a maximum diameter larger than the maximum diameter of the exposed opening 6.
By having the exposed opening 6 and the hollow portion 4, it is possible to connect with a joint connected to the vacuum suction source and realize suction holding of the object by operating the vacuum suction source.
As shown in FIG. 2, when the maximum diameter of the exposed opening is X (mm), for example, when the hole diameter is φ4 mm to 10 mm, the maximum diameter of the exposed opening is X (as shown in FIG. 2). In the case of mm), 1.3X to 2.0X mm can be exemplified as the design value.
In a molded product having such a structure consisting of an exposed opening 6 (small diameter) and a hollow portion 4 (large diameter), it is difficult to remove the hollow portion from the mold (when formed from an elastic material, the molded product is deformed to form a mold. Although it is difficult to mold with a mold, even such a complicated shape can be easily molded by using a three-dimensional printer.

A flow path 5 for communicating the hollow portion 4 and the airtight space formed between the hollow portion 4 and the object is provided.
As shown in FIG. 4A, the flow path opening 8 on the airtight space side is provided at one or more locations between the base of the support contact portion 2 and the base of the insertion portion 1. It is preferable to provide them at two or more locations and arrange them point-symmetrically with respect to the insertion portion 1. In particular, the initial suction is performed evenly.
As shown in FIG. 2, it is preferable that the flow path opening 7 (connection portion) on the joint side matches the hole diameter of the joint. Since the contact area between the joint and the suction type holding member 110 is large, high airtightness is ensured.
Immediately below the flow path opening 7 (connection portion) on the joint side, there is a base of the insertion portion 1, and thus both openings of the flow path cannot be arranged coaxially. Further, the outermost diameter Z of the flow path opening 7 on the joint side is formed to be smaller than the outermost diameter LH of the insertion portion 1.
In such a case, the flow path is formed as an undercut portion, and it is extremely difficult to mold the flow path with a mold, but it can be easily formed by using a three-dimensional printer.

The insertion portion 1 is inserted so as to close the opening of the through hole of the object when the object is sucked.
The insertion portion 1 is integrally formed with the suction type holding member 110, and the same silicone rubber as the suction type holding member 110 is used.

It is preferable that the insertion portion 1 has a tapered surface that is inclined toward the tip thereof and is inclined so as to gradually approach the center line of the insertion portion. Since the part to be sealed by the insertion portion has a tapered shape, positioning to the through hole and prevention of air leakage can be realized at the same time. Further, since the insertion portion has a tapered surface, if the through hole is a little large, it can be inserted deeply, and if the through hole is a little small, it can be inserted shallowly to attract the variation in the diameter of the through hole. The robustness of positioning of the formula holding member and adsorption of the object is improved.

It is preferable that the insertion portion 1 is inclined at a plurality of different inclination angles. By changing the taper angle of the insertion part (making it a large angle with respect to the wall surface of the through hole) so that the tip of the insertion part can be easily inserted with respect to the taper angle of the through hole of the object, the through hole and the suction type It is possible to correct the misalignment of the central axis with the holding member.
The insertion portion 1 preferably has a first tapered surface on the tip side thereof and a second tapered surface on the root side of the insertion portion (two-step taper).
In the first tapered surface, when the insertion portion is inserted into the through hole, the insertion portion, which has a similar shape to the through hole, guides the insertion. When the object is a substrate having a thickness of 1.4 mm, the taper angle of the first tapered surface is preferably around 20 °. If the taper angle of the first tapered surface is around 20 °, the insertion portion can be inserted into the through hole without any problem.

The second tapered surface comes into direct contact with the outer circumference of the through hole to prevent air leakage from the through hole. When the object is a substrate having a thickness of 1.4 mm, the taper angle of the second tapered surface is preferably around 5 °. If the taper angle of the second tapered surface is too large, the sealing force may decrease, while if the taper angle of the second tapered surface is too small, the insertion portion of the suction type holding member may be inserted into the through hole. The resistance at the time of insertion and at the time of detachment may increase.

Since the shape of the insertion portion 1 can be shaped according to the shape of the through hole of the object, the through hole can correspond to a hole other than a circular hole such as a long-diameter hole. Further, since the suction force is reduced only by the area of the through hole of the object, the maximum suction force can be exhibited. Therefore, the size of the support contact portion (outer diameter in the case of a circle) can be minimized with respect to the target suction force.

The root diameter LH of the insertion portion 1 in FIG. 2 is similar to the diameter of the through hole of the object, and when the object has a thickness of 1.4 mm and a hole diameter of φ4 mm, the root diameter LH of the insertion portion 1 is The diameter of the through hole of the object is preferably +0.5 mm to 0.6 mm. The optimum value needs to be adjusted according to the shore D hardness.

The support contact portion 2 is provided on the outside of the insertion portion 1 of the suction type holding member 110, and comes into contact with the object when the object is sucked.
The shape, size, structure, and material of the support contact portion 2 are not particularly limited and may be appropriately selected depending on the intended purpose.
The support contact portion 2 is integrally formed with the suction type holding member 110, and the same silicone rubber as the suction type holding member 110 is used.
It is preferable that the suction type holding member 110, the insertion portion 1, and the support contact portion 2 are integrally formed. Since the suction type holding member 110, the insertion portion 1, and the support contact portion 2 are integrally formed, the problem of air leakage from the connecting portion and the adhesive rubber does not occur, and the stability of the suction force is improved. Furthermore, low cost and maintenance-free (handling of consumables) can be realized by integration.

When the insertion portion is inserted into the through hole of the object, it is preferable that the support contact portion abuts on the surface of the object and an airtight space is formed between the insertion portion and the object. When the airtight space is formed, the suction force for the object is improved, and the object can be transported to the target position while being sucked and held.
The airtight space becomes a vacuum space by operating a vacuum suction source to suck air, and an attractive force for an object is generated.

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 thin, the support contact portion may be pulled into the inside by air suction. If the thickness of the support contact portion is thick, the elasticity of the support contact portion is lost, so it is preferable that the support contact portion has an appropriate thickness.
The outer diameter of the support contact portion 2 indicated by LS in FIG. 2 is the required suction force required for one suction type holding member, and the size of the support contact portion is the contour of the through hole and the support. It is necessary to secure a sufficient suction area formed by the inner diameter of the contact portion.

Here, FIGS. 4A to 4D are schematic views showing an example of a suction holding operation of an object using the suction type holding member and the suction type holding device of the first embodiment.
FIG. 4A shows a non-suctioned state of the suction type holding member and the suction type holding device of the first embodiment, and air suction is performed in a state where the suction type holding member 110 is joined to the joint 50 connected to the vacuum suction source. Shows the air flow when started. 8 in FIG. 4A is a flow path opening on the airtight space side.
In FIG. 4B, the air flow from the gap between the suction type holding member 110 and the substrate 40 which is the object is stopped at the moment when the suction type holding member 110 comes into contact with the surface of the object, and the sealing is performed at the position P in FIG. 4B. It starts and shows the state where the vacuum suction is started by the operation of the vacuum suction source.
In FIG. 4C, after the suction type holding member 110 comes into contact with the object, the insertion portion 1 of the suction type holding member 110 is inserted into 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. It bites into the peripheral wall surface of the air 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 abuts on the substrate 40, and the space V formed between the insertion portion 1 and the object becomes a vacuum space with respect to the object. Indicates a state in which adsorption force is generated.
FIG. 4D shows a state in which the substrate 40 is dropped by its own weight when the air suction is stopped after the suction type holding member 110 sucks and holds the substrate 40 and conveys it to a target position.

<Second embodiment>
FIG. 1 is a schematic perspective view showing an example of a suction type holding member according to the second embodiment, and FIG. 5 is an example of a suction type holding member according to the second embodiment shown in line AA of FIG. The schematic cross-sectional view shown, FIG. 6, is a schematic cross-sectional view showing an example of the suction type holding member according to the second embodiment along the line BB of FIG.
In the second embodiment, the same reference numerals are given to the same configurations as those in the above-described embodiment, and the description thereof will be omitted.

The suction type holding member 120 according to the second embodiment shown in FIGS. 5 and 6 differs from the suction type holding member 110 of the first embodiment shown in FIGS. 2 and 3 in the shape of the insertion portion 1 and the shape of the insertion portion 1. This is the point where the size has been changed. That is, in the suction type holding member 120 of the second embodiment, the insertion portion 1 has a one-step tapered surface. Further, the substrate which is the object has a recess 41. In the suction type holding member 110 of the second embodiment, the insertion portion 1 may have a two-step tapered surface.

Next, in FIGS. 7A to 7D, the holding operation of the object using the suction type holding member 120 according to the second embodiment will be described.
FIG. 7A shows a non-suctioned state of the suction type holding member and the suction type holding device of the second embodiment, and air suction is performed in a state where the suction type holding member 120 is joined to the joint 50 connected to the vacuum suction source. Shows the air flow when started. 8 in FIG. 7A is a flow path opening on the airtight space side.
In FIG. 7B, the flow of air from the gap between the suction type holding member 110 and the object substrate 40 stops at the moment when the suction type holding member 120 comes into contact with the surface of the object, and the sealing is performed at the position P in FIG. 7B. It starts and shows the state where the vacuum suction is started by the operation of the vacuum suction source.
In FIG. 7C, after the suction type holding member 120 comes into contact with the object, the insertion portion 1 of the suction type holding member 120 is formed in 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. It bites into the peripheral wall surface and seals the air flow. When the insertion portion 1 is inserted into the recess 41 of the substrate, the support contact portion 2 abuts on the substrate 40, the space V formed between the insertion portion 1 and the substrate becomes a vacuum space, and an attractive force is generated on the substrate. Indicates the state of being.
FIG. 7D shows a state in which the substrate 40 is dropped by its own weight when the air suction is stopped after the suction type holding member 120 sucks and holds the substrate 40 and conveys it to a target position.

<Third embodiment>
FIG. 8 is a schematic view showing an example of the suction type holding member according to the third embodiment. In the third embodiment, the same reference numerals are given to the same configurations as those in the above-described embodiment, and the description thereof will be omitted.
The suction type holding member 130 according to the third embodiment shown in FIG. 8 differs from the suction type holding member 110 of the first embodiment shown in FIGS. 2 and 3 in that the through hole of the substrate 40, which is an object. 32 has an elliptical shape, and the shape of the insertion portion 1 of the suction type holding member 130 is changed to match the elliptical shape of the through hole 32. 32a in FIG. 8 shows a portion where the suction force is generated.
According to the third embodiment, the insertion portion 1 can be formed into a similar shape according to the shape of the through hole 32 of the object, and the outer circumference of the through hole 32 can be sealed as it is. Effective utilization of the mounting area can be achieved by minimizing the size of the part.
In the third embodiment, since the modeling is performed using a three-dimensional printer, it is possible to inexpensively model various irregularly shaped through holes in a short time.

<Fourth Embodiment>
FIG. 1 is a schematic perspective view showing an example of a suction type holding member according to a fourth embodiment, and FIG. 9 is an example of a suction type holding member according to a fourth embodiment shown in line AA of FIG. The schematic cross-sectional view shown, FIG. 10, is a schematic cross-sectional view showing an example of the suction type holding member according to the fourth embodiment along the line BB of FIG.
In the fourth embodiment, the same reference numerals are given to the same configurations as those in the above-described embodiment, and the description thereof will be omitted.

The suction type holding member 140 according to the fourth embodiment shown in FIGS. 9 and 10 differs from the suction type holding member 110 of the first embodiment shown in FIGS. 2 and 3 in that the flow path opening on the joint side is open. When the maximum diameter Z of the portion 7 (connecting portion) is formed larger than the outermost diameter LH of the insertion portion 1 and the suction type holding member is formed of an elastic material, the hollow portion 4 and the flow path 5 are removed from the mold. It is a point that it can be molded by a mold.
According to this fourth embodiment, the suction type holding member 140 can be mass-produced at low cost by using the mold.
The mold-molded suction-type holding member of the fourth embodiment has an advantage that no fine powder-like surface foreign matter is present as in the molded product formed by a three-dimensional printer.

Hereinafter, examples of the present invention will be described, but the present invention is not limited to these examples.

(Example 1)
AR-G1L (low hardness silicone rubber, Shore D hardness 35, manufactured by KEYENCE Co., Ltd.) is used as a modeling material, and an inkjet three-dimensional printer (manufactured by KEYENCE Co., Ltd., Azilista 3200) is used, as shown in FIGS. The suction type holding member 110 as shown was modeled.
Next, using the obtained suction type holding member 110, the suction force, durability, and positional deviation were evaluated as follows.

<Measurement of adsorption force>
11 and 12 show a suction force measuring device capable of repeatedly measuring the suction force of the suction type holding member 110 independently and a suction force measuring method using the suction force measuring device.
The substrate 31 provided with the through hole 32 is fixed between the pair of bases 30 and 30, and the suction type holding member 110 is operated by the operation of the tension tester (digital force gauge manufactured by SIMPO) 35 connected via the joint 34. Moves up and down.
After attaching a new suction type holding member 110 to the tip of the tension tester 35, insert the insertion part into the through hole 32 of the fixed substrate 31 directly below it, operate the vacuum suction pump to start suction, and then force it as it is. The suction force when the suction type holding member 110 was pulled away from the substrate 31 was repeatedly measured by the tension tester 35.
As shown in Table 1, it was confirmed that the adsorption force of 400 gf or more, which is the target value, can be achieved even if the adsorption and the forced release are repeated 5,000 times or more.

<Evaluation of durability>
13 and 14 are diagrams showing a durability evaluation device that actually repeatedly sucks and holds and releases the printed circuit board 40, which is an object having a through hole 32, and a durability evaluation method using the durability evaluation device. be.
Air suction, suction, lifting, left-right swing, reference position stop, lowering, air stop, and release through two diagonal corners 32 of the printed circuit board 40, which is the object, using a new suction type holding member 110. Repeat the repetitive operation of. A suction pipe 37 is connected to each suction type holding member 110 via a joint 34.
As shown in Table 1, the experiment was completed in a state where it could be used more than 500,000 times. It was found that the target value of 300,000 times or more could be achieved.

<Measurement of position deviation limit value>
The horizontal moving means 38 in FIG. 11 was operated to move the center of the insertion portion in one direction of X and Y by ± 0.05 mm, and the range in which the insertion portion could be held was recorded. The results are shown in Table 1. The measurement result could be held up to a positional deviation of ± 1.05 mm (2.1 mm in the total width) from the center of the insertion portion.
As shown in Table 1, according to the suction type holding member 110 shown in FIGS. 1 to 3, the insertion portion has a two-step tapered shape, so that the suction can be held and conveyed even if the position deviation width is a maximum of 2.1 mm. It was found that the target value of the positional deviation limit value of ± 0.3 mm or more can be achieved.

Aspects of the present invention are, for example, as follows.
<1> A suction-type holding member for contacting and holding an object by suction.
It has an insertion portion that is inserted so as to close the recess or the opening of the through hole of the object when the object is sucked.
The suction type holding member is characterized in that the insertion portion is inclined toward the tip thereof.
<2> The suction type holding member according to <1>, wherein the insertion portion is inclined at a plurality of different inclination angles.
<3> Any of <1> to <2>, which has an exposed exposed opening and a hollow portion that communicates with the exposed opening and has a maximum diameter larger than the maximum diameter of the exposed opening. The suction type holding member described.
<4> A flow path for communicating the hollow portion and the airtight space formed between the hollow portion is provided.
The suction-type holding member according to <3>, wherein the flow path opening on the airtight space side is arranged outside the insertion portion, and the positions of both flow path openings are not coaxial.
<5> The suction type holding member according to any one of <1> to <4>, which is a suction pad.
<6> The suction type holding member according to any one of <1> to <5>, which is modeled by a three-dimensional printer.
<7> From the above <1>, which is formed of at least one elastic material selected from nitrile rubber, silicone rubber, natural rubber, polyurethane resin, polyvinyl chloride resin, fluororubber, chloroprene rubber, and ethylene propylene rubber. The suction type holding member according to any one of <6>.
<8> A method for manufacturing a suction-type holding member for sucking and holding an object in contact with the object.
The shape, size, structure, number, arrangement of the recess or through hole of the object into which the insertion portion is inserted, and the state around the recess or through hole, and the weight, size, shape, and thickness of the object. , And the determination process of determining the modeling information of the suction type holding member from at least one type of information selected from the materials.
The modeling process of modeling the suction type holding member with a three-dimensional printer based on the determined modeling information of the suction type holding member,
This is a method for manufacturing a suction type holding member, which comprises.
<9> A suction-type holding device including at least one suction-type holding member according to any one of <1> to <7> and a vacuum suction source.
<10> A transport system that transports an object while sucking and holding it.
The suction type holding device according to <9> and
The transfer system includes a control means for controlling the operation of the suction type holding device.

The suction-type holding member according to any one of <1> to <7>, the method for manufacturing the suction-type holding member according to <8>, the suction-type holding device according to <9>, and the above-mentioned <10. >, It is possible to solve the conventional problems and achieve the object of the present invention.

1 Insertion part 2 Support contact part 4 Hollow part 5 Flow path 6 Exposed opening 7 Flow path opening on the joint side (connection part)
8 Flow path opening on the airtight space side 32 Through hole 40 Object (board)
41 Recess 50 Joint 110 Suction type holding member 120 Suction type holding member 130 Suction type holding member 140 Suction type holding member

Japanese Unexamined Patent Publication No. 2000-190268

Claims (10)

A suction-type holding member for contacting and holding an object by suction.
It has an insertion portion that is inserted so as to close the recess or the opening of the through hole of the object when the object is sucked.
A suction type holding member characterized in that the insertion portion is inclined toward the tip thereof. The suction-type holding member according to claim 1, wherein the insertion portion is inclined at a plurality of different inclination angles. The suction-type holding member according to any one of claims 1 to 2, further comprising an exposed exposed opening and a hollow portion communicating with the exposed opening and having a maximum diameter larger than the maximum diameter of the exposed opening. .. A flow path for communicating the hollow portion and the airtight space formed between the hollow portion and the object is provided.
The suction type holding member according to claim 3, wherein the flow path opening on the airtight space side is arranged outside the insertion portion, and the positions of both flow path openings are not coaxial. The suction type holding member according to any one of claims 1 to 4, which is a suction pad. The suction-type holding member according to any one of claims 1 to 5, which is formed by a three-dimensional printer. Any of claims 1 to 6, formed of at least one elastic material selected from nitrile rubber, silicone rubber, natural rubber, polyurethane resin, polyvinyl chloride resin, fluororubber, chloroprene rubber, and ethylene propylene rubber. The suction type holding member according to. A method for manufacturing a suction-type holding member for sucking and holding an object in contact with the object.
The shape, size, structure, number, arrangement of the recess or through hole of the object into which the insertion portion is inserted, and the state around the recess or through hole, and the weight, size, shape, and thickness of the object. , And the determination process of determining the modeling information of the suction type holding member from at least one type of information selected from the materials.
The modeling process of modeling the suction type holding member with a three-dimensional printer based on the determined modeling information of the suction type holding member,
A method for manufacturing a suction type holding member, which comprises. A suction type holding device comprising at least one suction type holding member according to any one of claims 1 to 7 and a vacuum suction source. A transport system that transports an object while sucking and holding it.
The suction type holding device according to claim 9,
A transport system including a control means for controlling the operation of the suction type holding device.

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