Classifications

• • 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
• • H—ELECTRICITY
  • H01—ELECTRIC ELEMENTS
  • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
  • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
  • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
  • H01L21/683—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping
  • H01L21/6838—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping with gripping and holding devices using a vacuum; Bernoulli devices
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
  • B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
  • B25B11/005—Vacuum work holders
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
  • B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
  • B25B11/005—Vacuum work holders
  • B25B11/007—Vacuum work holders portable, e.g. handheld
• • 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
• • 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

Definitions

• Vacuum suction head, vacuum suction apparatus and tape using the vacuum suction head are Vacuum suction head, vacuum suction apparatus and tape using the vacuum suction head
• the present invention relates to a vacuum suction head used for suctioning and transporting an object to be adsorbed, such as a glass plate, a liquid crystal display panel substrate, a resinous plate-like molded product, or a thin metal plate,
• the present invention relates to a vacuum adsorption device and a table for adsorbing an object to be adsorbed by the vacuum adsorption head of
• a liquid crystal display panel which is an example of an object to be adsorbed, has a granular spacer interposed between two glass substrates and a peripheral portion is attached using an adhesive (seal agent) while maintaining a gap. Liquid crystal is injected into the gap of the combined liquid crystal display panel substrate.
• the liquid crystal display panels used in individual display devices have largely different display sizes depending on their applications. In particular, liquid crystal display panels for television receivers and monitors are becoming larger year by year, and the glass substrates used for liquid crystal display panels tend to become thinner and thinner each year.
• a large number of liquid crystal display panel substrates are simultaneously manufactured by dividing a large-sized liquid crystal display panel substrate.
• a vacuum suction device is used to adsorb and transport the liquid crystal display panel substrate between the respective processes.
• Such vacuum suction apparatus comprises one or more suction pads.
• the liquid crystal display panel substrate is a laminate of two thin glass substrates of approximately 0.5 mm-0.7 mm. Such liquid crystal display panel substrates are easy to stagnate. Therefore, in order to transport a particularly large liquid crystal display panel substrate, it is necessary to suck and transport each location of the liquid crystal display panel substrate using a plurality of suction pads.
• FIG. 1 is a block diagram of the suction pad of the prior art example 1 which exists.
• the suction pad 51 is composed of a hemispherical rubber suction cup 51a and a suction pipe 51b connected to the upper part of the suction cup 51a.
• the suction pad 51 is not limited to the liquid crystal display panel substrate, and is widely used for suction of a plate-shaped molded product made of resin, a thin plate made of metal, etc. as a suction target.
• the glass surface is curved to cause uneven distribution in the spacer interposed between the glass substrates, and a product failure occurs in the liquid crystal display panel substrate. There was a fear that would occur.
• FIG. 2 is a cross-sectional view showing the structure of a suction pad 61 similarly disclosed in Patent Document 1.
• This suction pad 61 is referred to as Conventional Example 2.
• the suction disk 62 is a disk-shaped suction disk which also functions as a photosensitive resin material, and a suction port 62c penetrating in the vertical direction is provided at the central portion.
• a large number of convex portions are provided on the suction surface side of the suction disk 62, and the outer peripheral edge portion is provided with a flat surface having the same height as the convex portions to maintain airtightness.
• the convex portion is formed by photo-etching a photosensitive resin material (AFP).
• the reinforcing layer 63 is a layer in which the AFP is not deformed by external stress!
• the magnet sheet 64 is a sheet having the same diameter as the suction disc 62.
• the double-sided adhesive sheet 65 is an adhesive sheet for bonding the magnet sheet 64 and the reinforcing layer 63.
• These members 63-65 are provided with holes Q at positions corresponding to the suction ports 62c.
• the iron holding member 66 is an iron holding member having the same outer diameter as the magnet sheet 64.
• a support member 66a for supporting the holding member itself is provided.
• a suction pipe 67 is inserted through the support member 66a.
• the suction pipe 67 is connected to a vacuum pump (not shown).
• the suction disk 62 thus formed is pressed against a flat liquid crystal display panel substrate, and vacuum suction is performed through the suction port 62 c.
• the suction pad 61 can be adsorbed to the suction disk 62 without deforming the liquid crystal display panel substrate. Since the suction disk 62 is made of a soft material, the liquid crystal display panel substrate has a high suction function even if there is some stagnation. However, when a large liquid crystal display panel substrate is to be transported using the suction pad 51 of the prior art example 1 or the suction pad 61 of the prior art example 2 described above, the liquid crystal display panel board has a large amount of stagnation due to its own weight. Will occur.
• the suction pads In order to prevent such stagnation, it is necessary to increase the arrangement density of the suction pads with respect to the liquid crystal display panel substrate.
• a large-sized liquid crystal display panel substrate is placed on a working table and this liquid crystal display panel substrate is moved to the next process.
• the transport unit In order for the transport unit to hold the working table power of a large liquid crystal display panel substrate by suction and hold it on the suction pad, it is necessary to arrange multiple suction pads on the transport unit at optimum intervals according to the shape of the liquid crystal display panel substrate. is there. In this case, the suction heights of the suction pads must be uniform with a predetermined accuracy.
• the normal direction of the suction surface of the liquid crystal display panel substrate differs depending on the place. For this reason, when the central axes of the plurality of suction pads are all fixed in the same direction, the distance between the suction pad and the liquid crystal display panel substrate may not equal a predetermined value, or a gap may occur. Adsorption may occur.
• FIG. 3 is a cross-sectional view showing the structure of the vacuum suction pad disclosed in Patent Document 2.
• a pad 72 is disposed around a suction disk 71, and a suction rod 71 is used to hold the suction disk 71 and the pad 72 in a swingable manner.
• An air passage hole 75a connected to the vacuum pump is provided in a support rod 74 having a spherical tip, and an air passage hole 75b is also provided in the suction disc 71. Then, the space S surrounded by the suction disc 71 and the pad 72 can be exhausted or sucked through the air passage hole 75 b. Place the spring 79 in the air passage hole 75a and insert the spool valve 77. Then, a sensor rod 78 extending to the end face of the pad 72 is attached to the tip of the spool valve 77.
• the center of the support 73 holding the suction disc 71 is formed in a spherical shape to hold the ball of the support rod 74 in a swingable manner.
• the sensor rod 78 contacts the surface of the suction object, and the spool 79 is lifted by the reaction force of the spring 79 and the spool valve 77 is lifted.
• the air flow holes 75a and 75b communicate with each other, and the air is exhausted from the space S by the vacuum pump.
• the space S is held in a vacuum state.
• Patent Document 3 discloses that a vacuum suction device is provided with a large number of suction pads (not shown).
• the object to be adsorbed is a maza-liquid crystal display panel substrate.
• This vacuum suction device is a liquid crystal display panel substrate mounted on a working table By vacuum suction.
• This vacuum suction device is characterized in that it can be adjusted by providing a tilt controller so that a large number of suction pads and the surface of the liquid crystal display panel substrate become parallel.
• FIG. 4 is a cross-sectional view showing the structure of a vacuum suction device 80 according to Conventional Example 4 disclosed in Patent Document 3.
• the extension piece 81 extends in the direction perpendicular to the moving direction of the moving table. Attach the cylinder 82 to the extension piece 81.
• a horizontal support plate 83 is provided below the extension piece 81, and a suction fixing member 84 is mounted below and in parallel with the horizontal support plate 83.
• the cylinder 82 moves the horizontal support plate 83 up and down using the two shafts 85 as guide rods.
• the four shafts 86 pass through the horizontal support plate 83 fixed to the suction fixing member 84.
• the spring 87 adjusts the horizontal balance of the suction fixing member 84 itself.
• attach four inclination adjusters 89 to the four corners of suction fixing member 84. Then, the Maza-I liquid crystal display panel substrate 90 is placed on the working table 91.
• the distance between the suction fixing member 84 and the surface of the working table 91 can be adjusted for each tilt adjuster 89.
• the inclination of the suction fixing member 84 is adjusted to be horizontal.
• the suction fixing member 84 has a cavity inside.
• a plurality of suction pads 92 are attached to the lower surface of the suction fixing member 84.
• the structure of the suction pad 92 is the same as that of the prior art 2 shown in FIG.
• the mother liquid crystal display panel substrate 90 to be adsorbed and transported is placed on the working table 91.
• the suction fixing member 84 is positioned by driving the motor 89 b so that the suction pad 92 has an optimum height for suction-fixing the liquid crystal display panel substrate 90.
• the lower end positions of the four inclination adjustment bars 89a at the time of are detected using position detection means, and are stored in a second position memory (not shown).
• the suction pad 92 can be automatically positioned with respect to the new mother-liquid-crystal display panel substrate 90 every time the mother-liquid-crystal display panel substrate 90 is transported. If the thickness of the liquid crystal display panel substrate 90 is changed, change the value of the second position memory based on that value.
• Patent Document 1 Japanese Patent Application Laid-Open No. 11 19838
• Patent Document 2 Japanese Utility Model Application Publication S. No. 48-45064
• Patent Document 3 International Patent Publication Number WO 03/049909 A1
• the allowable range of undulation When carrying a glass substrate, if one side of the glass substrate is lm size, it is preferable to set the allowable range of undulation to, for example, 2 mm to 20 mm. In the case of a bonded glass substrate to be suctioned, its thickness is about 1. O mm-1.4 mm. A vacuum suction device that holds and transports such delicate laminated glass substrates must be able to cope with the surface undulations of the object to be adsorbed that will not impact the glass substrates. For this reason, since the suction pad as in Conventional Example 2 does not have a swing function, it can not cope with the surface undulation of a large glass substrate.
• the suction pad of Conventional Example 3 is developed for an object to be adsorbed such as a building material or a pressed steel plate even though it is swingable. For this reason, this suction pad is not suitable for adsorbing an object to be adsorbed having a minute structure such as a liquid crystal display panel substrate.
• the suction pad of Conventional Example 3 is swingable, it is held as it is when the neck (suction pad) is inclined. If you try to suction the liquid crystal display panel substrate with this neck (suction pad) inclined, the suction pad can not sufficiently follow the suction surface of the liquid crystal display panel substrate, and the suction pad has a strong suction surface. There is a risk of holding down. For this reason, in the liquid crystal display panel substrate, there is a risk that the suction force of the gap force of the micrometer order on the order of the conventional example 3 may change at the place where the liquid crystal display panel substrate is adsorbed. In addition, if the liquid crystal display panel substrate is adsorbed without the suction pad following the suction surface sufficiently, the liquid may not be transferred. There is a risk of dropping the crystal display panel substrate.
• the heights of the suction surfaces of the plurality of suction pads 92 need to be equal in advance.
• the inclination of the suction fixing member 84 for holding each suction pad 92 must be adjusted using a level or the like.
• no mechanism is provided to adjust the height of each suction pad 92 independently. Therefore, when the liquid crystal display panel substrate 90 is mounted on the working table 91, depending on the mounting conditions, the liquid crystal display panel substrate 90 may have waviness or warpage.
• the gap between the surface of the liquid crystal display panel substrate 90 and the suction surface of the suction pad 92 is different for each suction pad 92, resulting in a difference in suction force. If the surface of the Maza-I Liquid Crystal Display Panel Substrate 90 is pressed too hard in order to reduce the difference in adsorption power, the Maza-I Liquid Crystal Display Panel Substrate 90 may be damaged or the Maza-I Liquid Crystal Display Panel Substrate of the two glass substrates There is a risk that the gap may change.
• the present invention has been made in view of such conventional problems, and it is a brittle material substrate such as a glass plate, a semiconductor substrate or a ceramic plate, a liquid crystal display panel substrate, and a plate made of resin. It can be applied to small-sized and large-sized objects to be adsorbed, such as molded products and thin metal plates, so that the objects to be adsorbed can be surely adsorbed even if there are waviness or stagnation of the objects before and during adsorption.
• the purpose is to provide a vacuum suction head that can be used.
• Another object of the present invention is to provide a vacuum suction head in which after the suction object is released in the suction state, the posture thereof is corrected even if the suction pad is inclined and the direction is directed in a predetermined direction. Furthermore, it is an object of the present invention to provide a vacuum suction device capable of reliably suctioning an object to be suctioned without strictly adjusting the height of the suction pad even if one or a plurality of these suction heads are provided. Also, it is possible to provide a vacuum suction table in which at least one of the above-mentioned suction heads is arranged as a table with the suction disc facing upward, the object to be suctioned is reliably floated with compressed air and positioned, and then suctioned. The purpose is
• the vacuum suction head according to claim 1 is a suction pad for holding the suction object in contact with the suctioned surface of the object to be suctioned and holding the suction pad at one end, and a suction pad.
• a shaft provided with an intake / exhaust hole for sucking and exhausting gas to the inside and movement of the shaft
• a casing portion having a cylindrical space which restricts a range and holds it finely, and an elastic support portion which rotatably supports the shaft in the axial direction of the casing portion and a direction oblique to the axial direction in the casing portion. And comprising.
• the above-mentioned shaft is provided with a step portion provided like a bowl at a substantially intermediate position in the casing portion, and the casing portion has a cylindrical shape provided with a space for holding the elastic support portion in a deformable manner.
• a first casing plate which seals one end of the cylindrical part leaving the first opening
• a second casing plate which seals the other end of the cylindrical part leaving the second opening.
• the elastic support portion has a first spring held between the first casing plate and the stepped portion, and a second spring held between the second casing plate and the stepped portion.
• the first and second springs are coil springs, and the opening diameter of the first and second openings is smaller than the outer diameter of the first and second springs larger than the outer diameter of the shaft. .
• the suction pad is provided on the second opening side, and the compression force of the first spring is larger than the compression force of the second spring when the suction pad is not loaded.
• the suction pad described above is a plate-like member, and an adsorbing portion in which a large number of independent convex portions and concave portions are formed on one surface thereof, an annular portion at an outer peripheral position of the plate-like member surrounding the adsorbing portion. And a vacuum suction disk provided with an opening for exhausting gas in the groove to the outside.
• the above-mentioned suction pad is formed to take in a vacuum suction disc, and when the vacuum suction disc is close to a target object to be sucked, the skirt pad blocks external air from the space around the vacuum suction disc. Prepare.
• the above-mentioned suction pad is made of a flat resin having no unevenness.
• At least one vacuum suction head according to the first aspect is provided, and the vacuum suction head is brought into contact with the surface of an object to be suctioned to perform vacuum suction.
• the table according to claim 9 includes the vacuum suction head according to claim 1 on the base plate with the suction pad facing upward, and the suction surface of the object to be suctioned is brought into contact with the suction pad. And vacuum suction.
• the table further includes positioning means for positioning the suction target.
• the shaft is elastically supported so as to be finely movable in the axial direction and in a direction oblique to the axial direction (hereinafter, this mechanism is movable Since the adsorption pad follows the surface of the object to be adsorbed and can adsorb the object to be adsorbed even if the object to be adsorbed has undulations. Further, regardless of the shape of the object to be adsorbed, the adhesion between the adsorption pad and the surface of the object to be adsorbed can be improved.
• a plurality of vacuum suction heads can be disposed without strictly adjusting the height of the suction pad in accordance with the size of the suction target, so that each suction pad can The adsorption force can be maintained uniformly.
• the type of suction pad can be changed according to the surface condition, material, and bending rigidity of the object to be suctioned.
• a plurality of suction heads are disposed with the suction heads facing upward, and the suction object can be reliably floated by compressed air and positioned, and then a suction suction table can be realized.
• FIG. 1 is a cross-sectional view showing a structure of a suction pad of Conventional Example 1.
• FIG. 2 is a cross-sectional view showing a structure of a suction pad of Conventional Example 2.
• FIG. 3 is a cross-sectional view showing the structure of a suction pad of Conventional Example 3.
• FIG. 4 is a cross-sectional view showing a structure of a vacuum suction device of Conventional Example 4.
• FIG. 5 is a broken sectional view showing the structure of the vacuum suction head in the example of the present invention.
• FIG. 6 is a cross-sectional view showing a structure of a vacuum suction head in an embodiment of the present invention.
• FIG. 7 is an exploded perspective view showing the structure of a vacuum suction head according to an embodiment of the present invention.
• FIG. 8 is a cross-sectional view showing an example of a suction pad used in the vacuum suction head of the present embodiment.
• FIG. 9 is a schematic view of a vacuum suction device in which the vacuum suction head of the present embodiment is used.
• FIG. 10 is a schematic view showing a state in which an object to be adsorbed having a level difference is adsorbed in the vacuum adsorption device of the present example.
• FIG. 11 is a schematic view showing a change in posture of the suction pad in the vacuum suction head of the present embodiment.
• FIG. 12 is a top view showing a table on which the vacuum suction head of the present embodiment is used.
• FIG. 13 is a side view showing a table on which the vacuum suction head of the present embodiment is used.
• FIG. 14 is an explanatory view for explaining the positioning operation in the table of the present embodiment.
• FIG. 15 is a schematic view showing a state in which an object to be adsorbed is lifted in the table of the present embodiment.
• FIG. 1 A broken sectional view showing the internal structure of the vacuum suction head 1 in the present embodiment is shown in FIG.
• a cross-sectional view along the central axis of the vacuum suction head 1 is shown in FIG.
• An exploded perspective view showing the mounting relationship of the components of the vacuum suction head 1 is shown in FIG.
• the vacuum suction head 1 includes a casing portion, a suction portion, and an elastic support portion. As shown in FIG. 6, the direction along the central axis of the vacuum suction head 1 is taken as the z-axis direction, the upper direction is described as one, and the lower direction as +.
• the casing portion includes a casing 2, a first casing plate 3 provided with a first opening, and a second casing plate 4 provided with a second opening.
• a first spring 5 and a second spring 6 are provided as elastic support portions.
• the opening diameters of the first and second openings do not cause the first spring 5 and the second spring 6 to move out of the casing 2.
• the opening diameter is smaller than the outer diameter of the first spring 5 and the second spring 6 larger than the outer diameter of the shaft 7.
• the casing portion holds the suction portion via the elastic support portion so as to be movable in the z-axis direction and in an oblique direction inclined from the z-axis direction, that is, so as to be copyable. Further, the casing portion corrects the posture so that the shaft 7 is directed in a predetermined direction by the spring force of the first spring 5 and the second spring 6.
• the casing portion will be described with reference to FIG. 5-7.
• the casing 2 is a cylindrical member having a flange portion 2a formed at one end portion thereof, and the inner diameter thereof is D1.
• the outer diameter of the first spring 5 and the second spring 6 is D2, and the clearance for the first spring 5 and the second spring 6 to be freely deformed inside the casing 2 is d.
• Dl D2 + 2d.
• the flange portion 2 a is for fixing the casing 2 to the second casing plate 4 and has such a thickness that a screw hole for fixing is provided. Further, the flange portion 2a is provided with a plurality of holes and screw holes for attaching the vacuum suction head of the present invention to the vacuum suction device.
• the first casing plate 3 has a first opening at its center.
• the first casing plate 3 has a function of fixing the upper portion of the first spring 5 when the shaft 7 is held movably up and down via the first spring 5 and the second spring 6.
• the outermost diameter of the first casing plate 3 is the same as the outer diameter of the cylindrical portion of the casing 2.
• the first casing plate 3 is fixed to the upper end surface of the casing 2 by screws.
• An annular projection 3 a is provided on the inside of the first casing plate 3.
• the second casing plate 4 is comprised of two semicircular plates 4b as shown in FIG.
• the second casing plate 4 has at its center a second opening coaxial with the first opening and is provided with an annular projection 4a inside.
• the projection 3 a regulates the upper end position of the first spring 5 so as to be coaxial with the first casing plate 3.
• the projection 4 a regulates the lower end position of the second spring 6 so as to be coaxial with the second casing plate 4.
• the first opening of the first casing plate 3 and the second opening of the second casing plate 4 limit the inclination of the shaft 7 by bringing the shaft into contact with the inside.
• the suction portion includes a shaft 7, a suction pad 8, a lubricating sheet 9, a stopper plate 10 and a joint portion 11.
• the suction head 1 abuts against the object to be adsorbed while holding the suction node 8 at one end of the shaft 7, the suction pad 8 The air in 8 is supplied and exhausted, the negative pressure in the suction pad 8 is released, and high pressure air is injected.
• an intake hole 7 b is formed at the central axis of the shaft 7.
• the end portions of the first spring 5 and the second spring 6 abut on both sides of the step portion 7 a.
• a circular lubricating sheet 9 and a stopper plate 10 as shown in FIG. 7 are attached.
• the joint portion 11 may be either an elbow type or a straight type, but an elbow type is shown here.
• the joint portion 11 has a joint 11a and a pair l ib as shown in FIG.
• the joint portion 11 is connected to the shaft 7 by screwing a male screw of a screw-i b with the female screw provided on the upper portion of the intake hole 7 b of the shaft 7.
• the elastic support portion will be described.
• the first spring 5 and the second spring 6 which are elastic support portions are coil springs having the same outer diameter D2 and inner diameter dimensions.
• the shaft 7 is made alone and the second spring 6 is deformed and the inner diameter is enlarged by applying a rewinding force. .
• the first spring 5 can be held at the regular position only by inserting the upper force of the shaft 7 as it is. Next, the first spring 5 and the second spring 6 are compressed in a compressive force (pre-stress), and the first casing plate 3 is screwed and fixed to the upper end surface of the casing 2. In this way, the first spring 5 and the second spring 6 can be maintained in a pressurized state.
• pre-stress a compressive force
• the intake hole 7b of the shaft 7 may be screwed with a screw lib.
• the pressure of the first spring 5 becomes larger than the pressure of the second spring 6.
• a restoring force against the pressure of the first spring 5 is exerted, and the shaft 7 can be brought closer to the second opening side. That is, the object to be adsorbed comes in contact with the suction pad, the state, the adsorption pad adsorbs the object to be adsorbed, and the state and adsorption pad lift the object to be adsorbed by the air being blown out.
• the position of the suction pad 8 in the z-axis direction with respect to the casing 2 can be set at the standby position.
• further movement of the shaft 7 in the + z axis direction is The stopper plate 10 is restricted by coming into contact with the upper surface of the first casing plate 3.
• the shaft 7 moves in the ⁇ z-axis direction.
• the first casing plate 3, the casing 2 and the second casing plate 4 are configured as separate parts.
• the structure as the casing part is not limited to this structure as long as it can maintain the deformation freedom of the elastic support part.
• the flange portion may be located at the top (one end of the casing), the center, or the bottom (the other end of the casing).
• the second casing plate 4 and the casing 2 are provided with screw holes for fixing at a portion overlapping with the cylindrical portion of the casing 2 and fixed by screws.
• the first casing plate 3 and the casing 2 may have a single-body structure.
• the integral structure can reduce the number of parts and the number of assembling steps.
• the casing portion may be divided into two by a plane passing through the centers of the first and second openings.
• the method of incorporating the first spring 5 and the second spring 6 is not limited to the method described above.
• the first spring 5 can be inserted from the upper portion of the shaft 7 with the stepped portion 7 a as a boundary, and the lower force of the shaft 7 can also be inserted.
• the suction pad 8 is to be made removable by using a screw on the shaft 7, insert the second spring 6 and the second casing plate 4 in the shaft 7 and then attach the suction pad 8 to the shaft 7. It is also possible.
• the attachment of the suction pad 8 to the shaft 7 may be adhesive or brazing as another example.
• the second spring 6 and the second casing plate 4 can be inserted into the shaft 7 before the suction pad 8 is attached.
• the shape of the shaft 7 also need not be limited to that shown in FIGS. 5 and 6.
• an E ring or an O ring is inserted into the pipe portion constituting the shaft 7, and the lower end of the first spring 5 or the second spring is inserted into these rings.
• the upper end of 6 may be held.
• an E-ring or an O-ring may be inserted into this portion provided with a thin stopper plate 10.
• a connection part having a force or other structure using a general-purpose joint 11a and a universal joint 11b may be used.
• the elastic support portion uses a coil spring that abuts on the upper and lower sides of the stepped portion 7a. Even if an excessive load force S is applied, the first spring 5 and the second spring 6 can be prevented from stretching and plastic deformation. Also, since the first spring 5 and the second spring 6 are spiral or circularly wound springs having a center, the shaft 7 can be made easier as compared to using springs of other shapes. Can be located at the central axial position of the casing 2.
• the inner diameter and outer diameter dimensions of the first spring 5 and the second spring 6 are not limited to the same.
• the spring length and spring constant of the first spring 5 and the second spring 6 are appropriately changed according to the various conditions.
• the suction pad 8 can adjust the force with which the object to be adsorbed is in contact and the force with which the object to be adsorbed is held.
• metal coil springs are used as the first spring 5 and the second spring 6, but elastic members made of rubber or resin may be used!
• the structure of the suction pad may be various depending on the application.
• an adsorption pad 51 as shown in FIG. 1 can be used.
• a suction pad 61 as shown in FIG. 2 is used.
• a plurality of the adsorption pads 61 are used.
• the suction pad 8 includes a vacuum suction pad 31 and a skirt pad 32.
• the vacuum suction pad 31 has a multilayer structure in which a suction disk 33 and a reinforcing layer 34 are joined by a double-sided adhesive sheet 35a.
• the suction disk 33 has an airtight portion 33a having a flat surface at the periphery and a suction portion 33b in which a large number of concave and convex portions are formed.
• the suction disk 33 is a disk-like one which also functions as a photosensitive resin material.
• An opening 33d is provided as a part of the suction port 36 penetrated.
• the airtight portion 33a is an outer peripheral region of the suction disc without the photosensitive resin material being etched.
• an annular groove 33c is formed as a new recess on the inner peripheral side of the airtight portion 33a.
• an opening 33 d is provided at the center of the suction disc 33. These grooves communicate with the openings 33d and serve as paths for exhausting air present in the recesses.
• the reinforcing layer 34 is a layer in which the photosensitive resin material constituting the suction disk 33 is not deformed by an external stress, and is bonded.
• the skirt pad 32 is a rubber molded product in which the plate portion 32a, the annular portion 32b, and the skirt portion 32c are integrally molded.
• the plate portion 32a is a disk-shaped holding member for holding the vacuum suction pad 31 via the double-sided adhesive sheet 35b, and the diameter thereof is sufficiently larger than the outer diameter of the vacuum suction pad 31.
• An opening is also provided at the center of the plate portion 32 a and communicates with the opening of the vacuum suction pad 31 to form a suction port 36.
• the annular portion 32b is formed in a thick annular shape on the outer edge portion of the plate portion 32a so as to surround the vacuum suction pad 31 with a predetermined gap.
• the annular portion 32b is formed such that the vacuum suction pad 31 protrudes below the annular portion 32b.
• the lower surface of the annular portion 32 b is located in the z-axis direction from the lower surface of the vacuum suction pad 31.
• the skirt portion 32c is a thin-walled annular rubber member conically spread in a direction facing the brittle material substrate, with the annular portion 32b as a root.
• the skirt pad 32 functions to expand the exhaust space around the adsorption section when adsorbing the object to be adsorbed, and to increase the space that can be absorbed between the vacuum adsorption pad 31 and the object to be adsorbed. Since the thickness of the skirt portion 32c is small, when the suction pad 8 approaches the object to be adsorbed, the outer peripheral portion abuts and elastically deforms. Thus, the skirt portion 32c of the skirt pad 32 exerts a sealing function of blocking the inflow of air from the outside by contact with the object to be absorbed.
• the annular portion 32b is provided with a slit 32d, and air leaks between the outside of the skirt and the inside of the skirt.
• the slits 32d prevent local deformation of the substrate when the substrate is adsorbed, when the object to be adsorbed is a bonded substrate.
• the slits 32d can be realized, for example, by cutting a part of the outer peripheral portion of the skirt pad 32 after molding.
• the slit 32d can maintain the internal space in a negative pressure state until the skirt portion 32c contacts the object to be adsorbed and the vacuum adsorption pad 31 contacts the object to be adsorbed, and vacuum adsorption It may be a through hole having a size that does not prevent the pad 31 from adsorbing the adsorption target.
• the contact area of the suction pad 8 shown in FIG. 8 is increased by the addition of the skirt portion, and the inclination or the surface of the brittle material substrate of the suction target is enlarged. It becomes easy to follow the swell.
• the vacuum suction head of the present invention can be more easily inclined according to the inclination and waviness of the surface of the brittle material substrate. For this reason, immediately before adsorbing the brittle material substrate, the area around the suction disc 33 can be brought to negative pressure early and stably.
• FIGS. 5 to 7 show an example in which the suction pad 8 shown in FIG. 8 is attached as a suction pad, depending on the material, structure and shape of the suction target, it is shown in FIG. 1 or FIG.
• the suction pad 51 of FIG. 1 may be used.
• the suction pad 61 in FIG. 2 and the suction pad in FIG. 8 are used to prevent the gap between the two substrates from changing. Eight is used.
• FIG. 1 An example of the vacuum suction device 40 to which a plurality of vacuum suction heads 1 are attached is shown in FIG.
• a plurality of angles 42a, 42b, 42c, 42d are fixed to the chucking table 41 according to the size of the object to be adsorbed. Then, for each angle 42, a plurality of vacuum suction heads 1 are attached in one row according to the size of the object to be suctioned.
• the adsorption head 1 can be moved freely, so a mechanism for determining the height as described in the conventional example 4 is provided to adjust the height of the adsorption head individually. There is no need. For this reason, the work of attachment adjustment of a suction head becomes easy.
• FIG. 1 An example of adsorbing an object to be adsorbed having a level difference with the vacuum adsorption device 40 to which a plurality of vacuum adsorption heads 1 are attached is shown in FIG.
• the adsorption pad moves up and down according to the surface shape of the adsorption target and follows the surface of the adsorption target, so the adsorption target reliably. Can be adsorbed.
• the object to be adsorbed is small, it is only necessary to provide the vacuum suction device 40 with one vacuum suction head 1.
• FIG. 11A is a cross-sectional view showing the state of the vacuum suction head 1 before suction.
• the elasticity of the first spring 5 causes the suction pad 8 to be lowered to the lowermost end.
• the heights of the suction pads 8 in all the vacuum suction heads 1 shown in FIG. 9 are aligned in the z-axis direction, and the inclinations of the suction pads 8 are also almost aligned according to the characteristics of the spring.
• each suction pad 8 adheres to the suction target.
• each suction pad 8 largely recedes in the ⁇ z-axis direction as shown in FIG. 11 (B). If the object to be adsorbed has a large undulation, or if the surface of the object to be adsorbed is slightly inclined, the shaft 7 can be moved freely so that the desired adsorption force is maintained.
• the object to be adsorbed is pulled up from the working table and transported to another place.
• the adsorption target may stagnate by its own weight.
• the large-sized object to be adsorbed is mainly held at the central portion by the adsorption pad, the outer peripheral portion of the object to be adsorbed tends to stagnate downward.
• the normal force of the surface of the object to be adsorbed at the outer peripheral portion is deviated from the force in the central axial direction of the vacuum adsorption head 1.
• the vacuum suction head of this example is inclined as in the suction pad of the conventional example 3 before and after the suction target is suctioned and after the suction target is released. I will not leave. With the restoring force of the spring inside the suction head, the suction surface is almost straight down The posture of the suction pad is restored. For this reason, when the object to be adsorbed is adsorbed next, the object to be adsorbed is not scratched or adsorption failure does not occur.
• the skirt portion 32c may not contribute to the suction force when the suction disc 33 is in close contact with the surface of the suction target.
• the vacuum suction suction head 1 of the present embodiment even if the shaft 7 supported by the first spring 5 and the second spring 6 has the surface of the suction target partially inclined, And can easily follow the inclination of the surface of the object to be adsorbed. Therefore, the object to be adsorbed can be firmly held.
• Figure 11 (C) shows this state. That is, the suction disk 33 itself inclines following the stagnation of the object to be adsorbed.
• the allowable inclination angle of the shaft 7 is determined by the outer diameter of the shaft 7 and the inner diameters of the first casing plate 3 and the second casing plate 4.
• the inclination elasticity of the shaft 7 is smaller than the axial extension or compression of the shaft 7. This means that the suction pad 8 can flexibly cope with the inclination of the suction surface.
• the vacuum suction head 1 of the present embodiment does not remain inclined as in the suction pad of the prior art 3 after releasing the suction target after finishing the suction, and the spring force inside the suction head. By this, the posture of the suction pad is returned to the state where the suction surface is almost straight down. Therefore, when the object to be adsorbed is adsorbed next, the object to be adsorbed is not damaged or adsorption failure does not occur.
• the shaft 7 can be moved in the axial direction, and the swinging action is also possible, and the spring force of the first spring 5 and the second spring 6 inside the suction head.
• the posture of the suction pad can be returned to the state of turning to a predetermined direction from the state in which the head is shaken.
• a suction pad suitable for use in a conventional vacuum suction apparatus can also be used depending on the nature of the substance to be adsorbed.
• the suction pad 61 shown in FIG. 2 can be suitably used.
• the vacuum suction head 1 of the present embodiment is characterized in that the shaft 7 is held by two springs.
• the suction pad 8 When the suction pad 8 is unloaded, the shaft 7 needs to be held in place in the casing 2.
• the function is realized by the first spring 5, the second spring 6, and one spring.
• the suction pad 8 When the suction pad 8 is in the unloaded state, in order to hold the shaft 7 in place, one end of one end of one spring is used.
• the part may be fixed to the inside of the casing 2 and the other end may be fixed to the outer peripheral part of the shaft 7.
• the force using welding, the end of the screw may be bent, and the end may be pressed into the inside of the casing 2 or the outer periphery of the shaft 7.
• the shaft 7 can be held at a predetermined position by fixing the end of the spring only by inserting the two springs.
• the initial position of the shaft 7 with respect to the casing 2 can be freely set by changing the respective spring constants on the premise that the step portion 7a is sandwiched between two springs. In this sense, providing two springs is effective both in terms of the number of assembling steps and the ease of setting the initial position of the shaft 7.
• FIG. 12 A front view of the table 100 is shown in FIG. 12 and a side view is shown in FIG.
• a plurality of vacuum suction heads 1 are regularly arranged at predetermined intervals on a base plate 101, which is the base thereof, with a suction disk facing upward.
• a disk-like suction pad 103 is attached to the suction portion of the vacuum suction head 1.
• the suction pad 103 is provided with an exhaust hole 104 penetrating in the vertical direction at the central portion thereof, but the suction surface has a shape with no unevenness.
• the suction pad 103 is also made of a resin material, and for example, a peak material which is an engineering plastic is used.
• the exhaust hole 104 is connected to a pump (not shown) so that air can be jetted or vacuumed as appropriate.
• a plurality of reference pins 102 are attached so as to be aligned with a predetermined interval perpendicular to the base plate 101 and along one end face of the base plate 101 in the X and y directions. Further, when the mother-laminated substrate 110 placed on the suction pad 103 is positioned, it is necessary to bring the mother-laminated substrate 110 into contact with the reference pin 102.
• a plurality of pushers 105 are provided for this purpose. At the front end portion of the pusher 105, a roller 106 which is in contact with the end face of the mother-paste-bonded substrate 110 is attached.
• the reference pin 102 may be the same as the roller 106.
• each suction is performed. Air is jetted from the central exhaust hole 104 of the nod 103, and the jetted air causes the substrate 110 to rise up.
• the floated mother-paste bonded substrate 110 is positioned by contacting the reference pin 102 in the X and y directions by the pusher 105.
• the blowout of air is stopped, and the bonded substrate 110 is lowered and placed on the suction node 103.
• the mask-bonded substrate 110 When the mask-bonded substrate 110 is placed on the suction pad 103, it is vacuum-suctioned from the exhaust hole 104 by a vacuum pump (not shown) and held on the suction pad 103. When the bonded substrate 110 is suctioned and held by the suction pad 103, the roller 106 returns to its original state.
• the air ejected from the suction pad 103 during the positioning operation flows along the surface of the mother-bonded substrate 110 as shown by the arrows in FIG.
• the turbulent flow component is reduced and the air flow is stabilized. For this reason, the bonded substrate 110 is stably floated without vibration.
• FIG. 15 is a schematic diagram in which the stagnation of the substrate is drawn exaggeratingly in order to show the anomalous state in which the substrate as the object to be adsorbed is floated on the table of the present embodiment.
• a gap between the bonded substrate 110 and the table is formed by blowing out air, and the bonded substrate 110 is floated.
• the maze-one bonded substrate 110 since the Maza-one bonded substrate 110 is floated up by the jet air, the maze-one bonded substrate 110 generates stagnation and undulation.
• the substrate on the lower surface side of the dummy bonded substrate 110 partially contacts the table, and the substrate surface on the lower surface may be scratched.
• the mother-by-lamination substrate 110 contacts the table during the positioning operation, a slight positional deviation occurs. As a result, there is also a problem that accurate alignment (alignment) can not be performed on the substrate.
• the vacuum suction head 1 of the present invention is elastically supported so that the shaft 7 can be finely moved in the z-axis direction and in a direction oblique to the z-axis direction.
• the suction pad 103 is a mummy bonded substrate 110 within the allowable tilt range of the shaft 7 due to the Bernoulli effect due to the air ejection. Completely follow envy and swell. Then, when the substrate is positioned, the suction pad 103 moves up and down so that the distance between the substrate 110 and the suction pad 103 is kept constant. The substrate 110 moves to a predetermined position.
• the air blown out from the exhaust hole 104 forms a layered flow to the outer periphery of the suction pad 103, and the gap between the bonded substrate 110 and the suction pad 103 can be maintained constant. For this reason, it is possible to prevent damage to the back surface of the mazz-bonded substrate 110, and it is possible to maintain the floating state stably.
• the mother-bonded substrate 110 can be stably positioned with high accuracy without shifting. Since the vacuum suction head 1 is freely copyable when the positioning is completed and the vacuum bonding head 110 is placed on the suction pad 103, the substrate 1 is bonded according to the pressure difference generated by the Bernoulli effect described above. Copy freely to the inclination of the surface of 110. For this reason, unnecessary stress is not applied to the placed mother-laminated substrate 110. Also in the subsequent vacuum drawing by the vacuum pump, it is possible to reliably suction and hold the bonded substrate 110 to the suction pad 103.
• the mother-paste-bonded substrate 110 when the mother-paste-bonded substrate 110 is placed before positioning or when it is placed again after the positioning, the mother-place-bonded substrate 110 is Even before the suction, the suction is finished, and even after the release of the bonded substrate 110, it is possible to return the suction surface of the vacuum suction head to the almost straight upward state. For this reason, when mounting the mass-bonded substrate 110 next, the effect of preventing damage to the mass-bonded substrate 110 and preventing adsorption failure can be obtained.
• the table 100 may have at least one vacuum suction head 1 according to the size of the substrate.
• a plurality of vacuum suction heads are provided, they are preferably arranged in a mesh or lattice as shown in FIG.
• the outer peripheral part of the substrate may have a high arrangement density, and the others may have a low arrangement density.
• the positioning device in which the positioning means is further provided on the table as described above is extremely effective as a bridge alignment device before carrying in a substrate in the manufacturing steps of flat panel displays and semiconductor elements. Applied.
• the vacuum adsorption head 1, the vacuum adsorption device 40 and the table 100 can be used even if the atmosphere gas is not only air but also an inert gas such as nitrogen gas or a reaction gas. Therefore, as shown in Fig. 14 and Fig. 15, the mother-laminated substrate 110 is placed on the table by the transfer robot. As the gas to be ejected from the central exhaust hole of the suction pad 103 during mounting, a gas of a material corresponding to the purpose is selectively used.
• the vacuum suction head 1, the vacuum suction device 40, and the table 100 have been described in the example in which the suction target is placed horizontally, the present invention is not limited to this state, and the suction target is erected. Even in the state of being inclined, it can be applied to produce the effect of the present invention by optimizing the support and transport mechanism of the object to be adsorbed.
• the objects to be adsorbed to which the vacuum suction head 1, the vacuum suction device 40 and the table 100 of the present invention are applied include plate-like molded articles made of resin and thin plates made of metal.
• Other examples include brittle material substrates such as glass plates, ceramics of sintered materials, single crystal silicon, sapphires, semiconductor wafers, and ceramic substrates.
• Such brittle material substrates include a single plate or a bonded substrate, and include a circuit pattern, a metal film forming an electrode, and a resin film on which a resin film is attached.
• the brittle material substrate include flat panel display panels such as liquid crystal display panels, plasma display panels, and organic EL display panels.
• the vacuum suction head of the present invention is not only a suction and transport of flat panel displays such as a glass plate, a liquid crystal display panel using a glass substrate as a suction target, and a liquid crystal display panel using a plastic substrate, but also semiconductors, It can also be used in the field of conveying ceramic plates, resinous plate-like molded products, and thin metal plates.
• the height adjustment work of the suction pad can be easily performed, and in particular, it can adsorb a plate material with undulation, a sheet metal with a step on the surface, and a pressed plate.
• the object to be suctioned is reliably floated by ejecting compressed air from the vent. Can be positioned and suctioned.

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• Engineering & Computer Science (AREA)
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• Microelectronics & Electronic Packaging (AREA)
• Condensed Matter Physics & Semiconductors (AREA)
• General Physics & Mathematics (AREA)
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• Computer Hardware Design (AREA)
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• Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
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• 2004
  • 2004-11-19 KR KR1020067010805A patent/KR101142346B1/ko not_active Expired - Fee Related
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  • 2004-11-19 JP JP2005515658A patent/JP4724562B2/ja not_active Expired - Lifetime
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