WO2000032362A1 - Dispositif de retenue d'objet par succion - Google Patents
Dispositif de retenue d'objet par succion Download PDFInfo
- Publication number
- WO2000032362A1 WO2000032362A1 PCT/JP1999/006710 JP9906710W WO0032362A1 WO 2000032362 A1 WO2000032362 A1 WO 2000032362A1 JP 9906710 W JP9906710 W JP 9906710W WO 0032362 A1 WO0032362 A1 WO 0032362A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- work
- suction device
- suction
- rail member
- along
- Prior art date
Links
- 229920001973 fluoroelastomer Polymers 0.000 claims description 15
- 238000005096 rolling process Methods 0.000 claims description 8
- 230000035939 shock Effects 0.000 claims description 8
- 239000006229 carbon black Substances 0.000 claims description 7
- 239000007769 metal material Substances 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 239000012530 fluid Substances 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 2
- YCKRFDGAMUMZLT-UHFFFAOYSA-N Fluorine atom Chemical compound [F] YCKRFDGAMUMZLT-UHFFFAOYSA-N 0.000 description 6
- 229920001971 elastomer Polymers 0.000 description 6
- 229910052731 fluorine Inorganic materials 0.000 description 6
- 239000011737 fluorine Substances 0.000 description 6
- 238000001179 sorption measurement Methods 0.000 description 5
- 229920002379 silicone rubber Polymers 0.000 description 4
- 239000004020 conductor Substances 0.000 description 3
- 238000004073 vulcanization Methods 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 2
- 239000000470 constituent Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000012811 non-conductive material Substances 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
Definitions
- the present invention relates to a work suction device that suctions and conveys a work by a suction member under the action of a supplied negative pressure fluid.
- a suction device provided with a suction pad has been used as a means for sucking and transporting a work.
- a buffer mechanism is provided which has a function of absorbing a shock generated when the work is sucked by the suction pad or when the work is separated from the suction pad.
- a rotation preventing mechanism having a function of preventing rotation of the work when the work sucked by the suction pad is transported is provided.
- the buffer mechanism and the detent mechanism are configured separately from each other.
- An object of the present invention is to provide a work suction device capable of reducing the size of the entire device and greatly expanding the use environment based on temperature conditions. Disclosure of the invention According to the present invention, the shock absorbing mechanism that absorbs the shock generated when the work is attached and detached also has the function of preventing the work from rotating, so that the entire apparatus is reduced in size. Further, by forming all the constituent elements including the retainer and excluding the suction member from a metal material, the range of use depending on the temperature condition is expanded.
- the suction pad functioning as the suction member is formed of a conductive fluorine-based rubber composed of vulcanized fluorine-based rubber and a force.
- FIG. 1 is a front view of a work suction device according to an embodiment of the present invention.
- FIG. 2 is an operation explanatory view showing a state where the slider and the connecting member are displaced from the initial position shown in FIG. 1 along the rail member.
- FIG. 3 is a partially cutaway perspective view of a rail member and a slider that constitute a buffer mechanism.
- FIG. 4 is a longitudinal sectional view of a suction pad included in the work suction device shown in FIG.
- reference numeral 10 indicates a work suction device according to an embodiment of the present invention.
- the work suction device 10 is attached to a lower end of the body 12 through a connector 14 and a body 12 formed with a hole (not shown) penetrating along the axial direction. It has a suction pad (suction member) 16 and a joint member 18 formed with a port (not shown) connected to the upper end of the body 12 and communicating with the hole.
- a shock absorbing mechanism 22 is provided which absorbs an impact generated when the work 20 (see FIG. 2) is attached and detached and has a function of preventing rotation when the work 20 is transported. Have been.
- the other components except the suction pad 16 are all made of a metal material.
- the suction pad 16 is made of, for example, a conductive fluorine-based rubber. As shown, a skirt portion 24 formed to be thin and in contact with the work 20 and a hole 26 integrally formed with the skirt portion 24 and having a hole portion 26 connected to the connector 14. Part 28.
- the body 12 has a cylindrical member 30 having a through hole (not shown) formed therein, which functions as a passage through which the negative pressure fluid flows. An end of the cylindrical member 30 faces outward and Thus, a stopper portion 32 protruding by a predetermined dimension is formed.
- the buffer mechanism 22 includes a rail member 34 fixed to the side of the body 12 via a screw member (not shown) inserted into the mounting hole 33, and
- the slider (slide member) 36 provided linearly displaceable along the rail member 34 under the guide action of the roller member 34 and the mounting hole 37 are not shown.
- a connecting member 38 fixed to the slider 36 via a screw member and displaced integrally with the slider 36.
- a plurality of balls 4 rolling along rolling grooves 40 formed on the sides of the rail member 34 are provided between the rail member 34 and the slider 36.
- the retainer 46 is fixed to the slider 36 and provided so as to be displaced integrally with the slider 36.
- the buffer mechanism 22 including the retainer 46 is entirely formed of a metal material.
- a stop plate 47 functioning as a stopper for the slider 36 with respect to the rail member 34 is connected via a screw member 49.
- a cover member 51 for locking the retainer 46 is connected to the end via a screw member 53.
- the sliding surface between the ball 42 and the rolling groove 40 held by the retainer 46 and the sliding surface between the rail member 34 and the slider 36 have a wide temperature range (for example, It is recommended to apply lubricating oil with low dust generation that can be used at a temperature of 40 ° (: up to 200 ° C).
- the connecting member 38 is formed with a pair of mounting holes 48 a and 48 b spaced from each other by a predetermined distance.
- the work suction device 10 can be fixed to a robot arm 56 (not shown) via a fastening member 55 screwed into the wires 8a and 48b.
- a projection 50 is formed at an end of the connecting member 38 so as to abut against a stopper 32 provided on the body 12 and restrict its displacement operation.
- a spring 52 is engaged between the protrusion 50 and the rail member 34, and the protrusion 50 is separated from one end of the rail member 34 under the action of the elastic force of the spring 52. The direction, that is, the protrusion 50 is urged so as to abut the stopper portion 32. The impact generated when the work 20 is attached and detached is absorbed by the elastic force of the spring 52. Note that one end of the spring 52 is locked to the rail member 34, and the other end of the spring 52 is locked to the protrusion 50.
- the joint member 18 is formed of a so-called one-touch joint, is connected to a negative pressure supply source (not shown) via a tube 54 inserted into a port, and the negative pressure fluid supplied from the negative pressure supply source is a body. It is led into the suction pad 16 through the through hole 12 (not shown).
- the work suction device 10 is basically configured as described above. Next, the operation and effect of the device will be described. In the following description, the state shown in FIG. 1 will be described as an initial position.
- the rail member 34 is connected to the side of the body 12 by screwing a screw member (not shown) into the mounting hole 33 formed in the rail member 34.
- the connecting member 38 is fixed to the slider 36 by screwing a screw member (not shown) into the mounting hole 37 formed on the slider 36.
- the fastening member 55 is screwed into the mounting holes 48a and 48b formed in the connecting member 38, and the work suction device 10 is connected to the arm 56 of the mouth pot, for example. Secure to one end.
- the work suction device 10 is lowered under the action of the displacement of the arm 56 of the robot, and the work 20 is suctioned via the suction pad 16.
- the connecting member 38 and the slider 36 are moved down along the rail member 34 by being piled on the resilient force of the spring 52, and the connecting member 3
- the projection 50 of FIG. 8 is separated from the stopper 32. Therefore, due to the elastic force of the spring 56, The shock at the time of adsorbing 20 can be absorbed.
- the arm 56 of the mouth pot is displaced, and the work suction device 10 is moved to a predetermined position.
- the projection 50 returns to the initial position where it comes into contact with the stopper 32 by the elastic force of the spring 52 (see FIG. 1).
- the robot arm 56 After sucking the workpiece 20, the robot arm 56 is rotated in a predetermined direction to stop the rotation at a predetermined position, and the workpiece suction device 10 is moved by the displacement of the robot arm 56. By lowering the workpiece 20, the workpiece 20 can be positioned and transported at a predetermined position.
- the rail member 34 and the slider 36 are engaged with each other, so that the work 20 is prevented from rotating. That is, the rail member 34 and the slider 36 functioning as guide means are provided with a function of preventing the work 20 sucked by the suction pad 16 from rotating, so that the suction pad 16 By preventing the work 20 from falling off, the work 20 can be stably conveyed.
- the slider 36 is provided so as to be displaceable only in the axial direction of the rail member 34 by the pawl 42 rolling along the rolling groove 40, and the axis of the rail member 34 is provided. Since it is not provided so as to rotate around the rotation center, the rotation stopping function is achieved.
- the transfer position can be positioned with high accuracy.
- the suction pad 16 needs to be formed of a conductive material.
- the suction pad 16 is formed of a non-conductive material, the electric current charged in the IC chip flows from the IC chip to the outside of the chip. This can result in damage to the IC chip.
- the suction pad 16 is also required to have heat resistance.
- conductive silicon rubber made of silicon rubber and carbon black
- the conductive silicon rubber has been widely used as a material for a suction pad.
- the conductive silicon rubber has poor durability, and when used as a suction pad, there is a problem that the durability is deteriorated by repeatedly performing suction and transfer of the work.
- the suction pad 16 included in the work suction device 10 according to the present embodiment is made of conductive fluorine-based rubber.
- the conductive fluororubber is a composite material composed of vulcanized fluororubber and carbon black.
- vulcanized fluoro rubber provides superior strength, durability, and heat resistance to conductive fluoro rubber, but it is used for adsorption made using unvulcanized fluoro rubber. Pads cannot provide sufficient durability and heat resistance.
- carbon black itself is a good conductor, and is therefore a component that provides conductivity to the conductive fluororubber.
- the ratio between the fluorine-based rubber and the carbon black is set so that the adsorption pad 16 has desired heat resistance, durability, and electrical conductivity.
- the suction pad 16 incorporated in the work suction device 10 according to the present embodiment can be manufactured, for example, as follows.
- the fluororubber, the vulcanizing agent for the fluororubber, and carbon black are uniformly mixed at a predetermined ratio to form a mixture.
- the mixture is heated at about 180 ° C. while maintaining it for about 10 minutes (primary vulcanization). Furthermore, after the temperature is raised stepwise to around 230 ° C, it is maintained and heated for about 24 hours (secondary vulcanization).
- the fluororubber is vulcanized by a vulcanizing agent, and the vulcanized fluororubber and carbon black are compounded to obtain a conductive fluororubber. . In this way, raise the temperature and maintain the constant temperature By doing so, it is possible to avoid the occurrence of cracks due to the expansion of the gas component generated from the conductive fluororubber during vulcanization.
- the adsorption pad 16 is manufactured.
- the suction pad 16 manufactured in this way has excellent heat resistance and electrical conductivity, and also has excellent durability. Therefore, even if the suction and transfer of the high-temperature IC chip are repeatedly performed for a long time, the IC chip is not adversely affected, and the durability of the suction pad 16 can be further improved. Industrial applicability
- the shock absorbing mechanism for absorbing the shock generated when the work is attached and detached also has the function of preventing the work from rotating, it is not necessary to provide each work separately, and the entire apparatus can be downsized. be able to.
- the use environment based on the temperature condition can be greatly expanded by forming all of the constituent elements other than the suction pad functioning as a suction member from a metal material.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/856,154 US6561749B1 (en) | 1998-12-01 | 1999-11-30 | Work sucking device |
DE19983778T DE19983778T1 (de) | 1998-12-01 | 1999-11-30 | Werkstücksaugvorrichtung |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP10/342070 | 1998-12-01 | ||
JP10342070A JP2000158374A (ja) | 1998-12-01 | 1998-12-01 | ワーク吸着装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2000032362A1 true WO2000032362A1 (fr) | 2000-06-08 |
Family
ID=18350933
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1999/006710 WO2000032362A1 (fr) | 1998-12-01 | 1999-11-30 | Dispositif de retenue d'objet par succion |
Country Status (4)
Country | Link |
---|---|
US (1) | US6561749B1 (ja) |
JP (1) | JP2000158374A (ja) |
DE (1) | DE19983778T1 (ja) |
WO (1) | WO2000032362A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20110019518A (ko) * | 2009-08-20 | 2011-02-28 | 삼성전자주식회사 | 기판 흡착용 노즐 및 이를 갖는 기판 이송 장치 |
CN113053792B (zh) * | 2019-12-27 | 2024-03-12 | 致茂电子(苏州)有限公司 | 可旋转的缓冲取放装置 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0570630A (ja) * | 1991-09-10 | 1993-03-23 | Smc Corp | 真空吸着パツド |
JPH1029183A (ja) * | 1996-07-11 | 1998-02-03 | Myotoku Kk | 真空パッド |
JPH1029182A (ja) * | 1996-07-12 | 1998-02-03 | Ckd Corp | 緩衝器及び吸着装置 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3056317A (en) * | 1959-09-02 | 1962-10-02 | Western Electric Co | Article manipulating and processing apparatus |
DE2035294A1 (de) * | 1970-07-16 | 1972-01-20 | Mabeg Maschinenbau Gmbh Nachf | Trenn und Fördersauger für Bogenanleger |
US3721352A (en) * | 1971-08-06 | 1973-03-20 | E Messmer | Drive mechanism employing suction cup coupling |
US3765542A (en) * | 1972-04-03 | 1973-10-16 | Ibm | Self-aligning object placement apparatus |
FR2195753B1 (ja) * | 1972-08-11 | 1975-03-07 | Carnaud & Forges | |
CA1125346A (en) * | 1979-11-07 | 1982-06-08 | Jack P. Fler | Three part slide |
JP3810098B2 (ja) * | 1993-01-29 | 2006-08-16 | 株式会社ブリヂストン | ゴム組成物 |
US5393821A (en) * | 1993-02-23 | 1995-02-28 | Cabot Corporation | Carbon blacks |
US5422554A (en) * | 1993-03-05 | 1995-06-06 | Motorola, Inc. | Vacuum nozzle capable of adjustable placing force |
US5708222A (en) * | 1994-08-01 | 1998-01-13 | Tokyo Electron Limited | Inspection apparatus, transportation apparatus, and temperature control apparatus |
JP3896183B2 (ja) * | 1997-02-06 | 2007-03-22 | 日本トムソン株式会社 | ボールスプライン |
-
1998
- 1998-12-01 JP JP10342070A patent/JP2000158374A/ja active Pending
-
1999
- 1999-11-30 DE DE19983778T patent/DE19983778T1/de not_active Withdrawn
- 1999-11-30 WO PCT/JP1999/006710 patent/WO2000032362A1/ja active Application Filing
- 1999-11-30 US US09/856,154 patent/US6561749B1/en not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0570630A (ja) * | 1991-09-10 | 1993-03-23 | Smc Corp | 真空吸着パツド |
JPH1029183A (ja) * | 1996-07-11 | 1998-02-03 | Myotoku Kk | 真空パッド |
JPH1029182A (ja) * | 1996-07-12 | 1998-02-03 | Ckd Corp | 緩衝器及び吸着装置 |
Also Published As
Publication number | Publication date |
---|---|
US6561749B1 (en) | 2003-05-13 |
JP2000158374A (ja) | 2000-06-13 |
DE19983778T1 (de) | 2001-10-18 |
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