WO2011155443A1 - 板状部材の移送装置及び吸着パッド - Google Patents
板状部材の移送装置及び吸着パッド Download PDFInfo
- Publication number
- WO2011155443A1 WO2011155443A1 PCT/JP2011/062938 JP2011062938W WO2011155443A1 WO 2011155443 A1 WO2011155443 A1 WO 2011155443A1 JP 2011062938 W JP2011062938 W JP 2011062938W WO 2011155443 A1 WO2011155443 A1 WO 2011155443A1
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- WO
- WIPO (PCT)
- Prior art keywords
- plate
- protrusion
- suction pad
- transfer device
- protective sheet
- Prior art date
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Classifications
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- 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
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- 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
- H01L21/677—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 conveying, e.g. between different workstations
- H01L21/67784—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 conveying, e.g. between different workstations using air tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/063—Transporting devices for sheet glass
- B65G49/064—Transporting devices for sheet glass in a horizontal position
- B65G49/065—Transporting devices for sheet glass in a horizontal position supported partially or completely on fluid cushions, e.g. a gas cushion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/067—Sheet handling, means, e.g. manipulators, devices for turning or tilting sheet glass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
- B65G2249/04—Arrangements of vacuum systems or suction cups
- B65G2249/045—Details of suction cups suction cups
Definitions
- the present invention relates to a glass plate, a resin plate, a laminate plate formed by laminating a glass layer and a resin layer, a transfer device for transferring a plate member such as a metal plate, and a suction pad for the device, and more Specifically, the present invention relates to a transfer device and a suction pad for transferring a plate-like member with a protective sheet together with the protective sheet.
- glass substrates used for manufacturing display panels for image display devices such as liquid crystal displays and plasma displays glass substrates used as substrates for electronic display functional elements and thin film formation, glass plates for building structures, etc. These are collectively referred to as a glass plate) and are transferred to a predetermined position in processes such as production, conveyance, and storage.
- a transfer device of a type in which a glass plate is sucked by a suction pad and the suction pad is moved to a predetermined position by a moving means is widely used.
- the suction pad connected to the vacuum source sucks the glass plate by applying a negative pressure to the inside of the pad while being applied to the glass plate.
- the surface of the glass plate is a protective sheet (paper, synthetic resin, etc.). It is often transported in a state covered with paper. Moreover, the glass plate for flat panel displays adsorb
- an adsorption force can be applied to the glass plate through the protective sheet.
- an adsorption force can be applied to the glass plate through the protective sheet.
- negative pressure is exerted on the glass plate by using a porous or other breathable protective sheet.
- the material of the protective sheet is limited.
- a foamed resin sheet that has cushioning properties and is less likely to be displaced is often used as a protective sheet. In this case, the glass plate cannot be adsorbed through the protective sheet.
- JP2004-136926 (paragraph 0009) Shoko 60-11860 (column 2) JP 2004-153157 (paragraph 0013) JP-A-2005-75482 (paragraphs 0041-0045)
- an object of this invention is to provide the transfer apparatus which can perform simply and reliably adsorption
- the present invention provides a plate-like member transfer device for transferring the plate-like member in a state where the plate-like member is sucked and held by a negative pressure acting via a suction pad, the suction member being The pad has a protrusion on its inner surface, and when the protective sheet superimposed on the surface of the plate-like member is adsorbed by negative pressure, the protrusion penetrates the protective sheet, and the portion of the protective sheet penetrated by the protrusion
- An apparatus for transferring a plate-like member is provided, wherein a ventilation portion is formed around the plate member, and the plate-like member is sucked and held together with the protective sheet by a negative pressure acting on the plate-like member through the ventilation portion.
- the suction pad has a protrusion on its inner surface, and when the protective sheet on the surface of a plate-like member such as a glass plate is adsorbed by negative pressure, the protrusion penetrates the protective sheet.
- a ventilation part is formed around the penetrating part by the protrusion in the protection sheet, and the suction pad adsorbs and holds the plate member together with the protection sheet by negative pressure acting on the plate member through the ventilation part. To do. Therefore, it is possible to easily and reliably adsorb the glass plate through the protective sheet based on a simple configuration in which a protrusion is provided on the inner surface of the pad and a ventilation portion is formed in the protective sheet by the protrusion using negative pressure. it can.
- the protrusion may have a cutting edge extending along the protruding direction on the surface thereof. This cutting blade penetrates the protective sheet when the protective sheet is adsorbed by the suction pad, and reliably forms a ventilation portion around the penetrating portion.
- the projection may have a polygonal pyramid shape, and the polygonal cone shaped ridge line may constitute the cutting edge.
- the hole formed in a protection sheet produces a ventilation part by the cut
- the suction force acts on the plate member more effectively.
- the suction pad includes a base portion connected to a vacuum source and a skirt portion extending from the base portion in a bowl shape to form an opening end surface, and the protrusion is provided on the base portion. be able to.
- the protrusion provided on the base portion is located at the heel end of the skirt-like skirt portion. Therefore, it is possible to reliably prevent the plate-like member from coming into contact with the protrusion during suction by negative pressure. This point is particularly effective when the skirt portion is elastically deformed toward the plate-like member with suction.
- the suction pad includes a base portion connected to a vacuum source, and a skirt portion extending from the base portion in a bowl shape to form an opening end surface, and the protrusion is in the vicinity of a boundary between the base portion and the skirt portion It can be provided.
- the sucked protection sheet is deformed so as to substantially follow the skirt portion and the base portion and reaches the protrusion.
- the skirt part is elastically deformed with suction, the deformation amount is small on the base end side near the base part, so that the plate-like member is difficult to reach the vicinity of the boundary between the skirt part and the base part. Contact with is reliably prevented.
- the suction pad is provided with a stopper extending from the inner surface to the opening end surface, and the stopper extends beyond the tip of the protrusion to a position before the opening end surface. If this suction pad is used, even if the skirt is bent and the plate-shaped member approaches the protrusion when the protective sheet is sucked, the plate-shaped member comes into contact with the stopper, so Since the movement is restricted, it is reliably prevented that the plate-like member is damaged due to contact with the protrusion.
- the protrusion can be made of metal. Therefore, the machinability which penetrates a protection sheet at the time of adsorption
- the present invention is a suction pad that communicates with a vacuum source that generates a negative pressure, and has a protrusion on the inner surface of the pad, and the protrusion has a cutting edge extending along the protruding direction on the surface.
- the suction pad characterized by this is provided.
- the suction pad since the suction pad has a protrusion on its inner surface, when the protective sheet is stacked on the surface of the plate member, the protrusion penetrates the absorbed protective sheet. Along with this, a ventilation part is formed around the penetrating part by the protrusion in the protection sheet, and the suction pad adsorbs and holds the plate member together with the protection sheet by negative pressure acting on the plate member through the ventilation part. To do. Therefore, it is possible to simply and reliably adsorb the plate-like member via the protective sheet based on a simple configuration in which a protrusion is provided on the inner surface of the pad and a ventilation portion is formed in the protective sheet by using the negative pressure. Can do.
- the projection may have a polygonal pyramid shape, and the polygonal cone shaped ridge line may constitute the cutting edge.
- the hole formed in a protection sheet produces a ventilation part by the cut
- the suction force acts on the plate member more effectively.
- a transfer device capable of simply and reliably sucking a plate-like member such as a glass plate via a protective sheet, and a suction pad therefor.
- FIG. 1 It is a front view showing roughly one embodiment of the transfer device concerning the present invention. It is a longitudinal cross-sectional view which shows the suction pad in the transfer apparatus shown in FIG. It is a bottom view of the suction pad shown in FIG. It is a longitudinal cross-sectional view which shows the use condition of the suction pad shown in FIG. It is a bottom view which shows the punching
- FIG. It is a figure which shows the other form of the protrusion used for the suction pad of FIG. It is a figure which shows the other form of the protrusion used for the suction pad of FIG. It is a figure which shows the other form of the protrusion used for the suction pad of FIG. It is a figure which shows the other form of the protrusion used for the suction pad of FIG. It is a longitudinal cross-sectional view which shows other embodiment of the suction pad which concerns on this invention. It is a bottom view of the suction pad shown in FIG. It is a longitudinal cross-sectional view which shows the other form of a suction pad. It is a longitudinal cross-sectional view which shows the other form of a suction pad. It is a longitudinal cross-sectional view which shows the other form of a suction pad. It is a longitudinal cross-sectional view which shows the other form of a suction pad.
- FIG. 1 is a front view schematically showing an embodiment of a transfer apparatus according to the present invention.
- This transfer device includes a moving means 1 supported by a rail 10 and a suction device 3 coupled to the moving means 1.
- the moving means 1 includes a sliding portion 11 that slides along the rail 10, a swiveling portion 12 that is coupled to the sliding portion and allows rotation about a vertical axis, and is coupled to the swiveling portion to move up and down.
- An elevating part 13 that expands and contracts in the direction, a first arm 14 that is coupled to the lower end of the elevating part and rotates about a horizontal axis, and a horizontal axis that is coupled to the first arm and supports the suction device 3 at the tip.
- a second arm 15 that rotates around.
- the rail 10 is installed on a ceiling or the like, and extends between stations to which a plate-like member, for example, a glass plate P should be transferred.
- the sliding part 11, the turning part 12, the elevating part 13, the first arm 14, and the second arm 15 are configured to perform predetermined operations by driving means such as an electric motor incorporated therein, for example. Since various known structures can be applied to this, detailed description is omitted here.
- a moving means it can be set as various forms, such as what supported a rocking arm on the turning arm installed on the floor surface, what was supported on a rail, and a robot arm-like thing.
- the glass plate P may be in any installation state, such as a single unit or stacked layers, horizontal, vertical or diagonal. Further, the glass sheet P is overlaid with protective sheets for surface protection and the like.
- the protective sheet (so-called slip sheet) is a synthetic resin such as a foamed resin sheet, paper, or the like.
- the protective sheet B is desirably stretchable. Thereby, at the time of adsorption
- the suction device 3 includes a support plate 31 supported at the tip of the second arm 15, a plurality of suction pads 30 attached to the support plate, one end connected to the support plate 31, and the other end a sliding portion. 11 and a suction hose 33 connected to a vacuum source (not shown).
- the support plate 31 has a flat plate shape slightly smaller than the glass plate to be transferred, and has a ventilation path formed therein (not shown).
- the air passage extends from the connection portion 34 of the suction hose 33 to each suction pad 30.
- the suction pad (suction head) 30 includes a base portion 35 and a skirt portion 37 extending in a hook shape from the base portion, as shown in the longitudinal sectional view of FIG. 2 and the bottom view of FIG.
- the base portion 35 includes a base main body 351 and an adapter 352 extending from the base main body and connected to the air passage of the support plate 31.
- the adapter 352 is formed with a through hole 352a for transmitting a negative pressure acting on the air passage, and the base body 351 is formed with a through hole 351a communicating with the through hole 352a.
- a threaded portion is formed on the outer peripheral surface of the adapter 352, and a nut 353 is screwed into the threaded portion.
- the suction pad 30 is attached by inserting an adapter 352 into a through hole of a pad attachment plate (bracket) such as the support plate 31 and fastening a nut 353.
- the skirt portion 37 is made of a flexible material such as silicon or NBR, extends in a bowl shape from the base body 351, and forms an open end surface 371 on the opposite side of the base body 351.
- the base body 351 and the skirt portion 37 form a concave inner surface 38 for allowing the suction pad 30 to apply a suction force.
- the skirt portion 37 has a shape that expands in a bell shape from the base portion 35 side to the opening end surface 371 side.
- tip part tends to bend and the negative pressure maintenance in a skirt part is ensured.
- the skirt portion 37 can be formed in a cylindrical shape that extends on a plane on the base portion 35 side and extends to the opening end surface 371 with substantially the same diameter. In this case, it is desirable to provide a pad 372 with high flexibility at the tip in order to improve the adhesion with the protective sheet.
- the suction pad 30 is further provided with a projection 39 for drilling.
- the protrusion 39 extends from the recessed inner surface 38 toward the opening end surface 371.
- the protrusion 39 has a sharp tip portion 391, and the base end portion is fixed to the base portion 35. This fixing can be performed by bonding, fusing, screwing, or the like.
- bonding for example, a cyanoacrylate instantaneous adhesive, an epoxy adhesive, a two-component mixed acrylic adhesive, or the like can be used.
- the protrusion 39 may be insert-molded when the base body 351 and the skirt portion 37 are molded.
- the protrusion 39 is preferably made of a metal having high hardness such as a cemented carbide so as to maintain good machinability of the protective sheet perforation.
- the protrusion 39 has an irregular cross-sectional shape that prevents the peripheral portion of the hole formed in the protective sheet from sticking to the entire peripheral surface of the protrusion, and in this embodiment, as shown in FIGS. 6 (1a) and (1b). It has a triangular pyramid shape. Alternatively, other polygonal pyramids such as a quadrangular pyramid shown in FIGS. 6 (2a) and (2b) can be used. In the case of a polygonal pyramid shape, as shown in these drawings, the weight surface 392 is preferably concave from the plane connecting adjacent ridge lines. Thereby, the ventilation part mentioned later becomes easy to be formed and the suction power through a protection sheet acts more effectively by a glass plate.
- the skirt portion 37 can have an outer diameter of 50 to 150 mm and a height of 5 to 20 mm.
- the protrusion 39 has a height of 5 to 10 mm and a proximal end portion.
- the diameter can be 2 to 5 mm.
- the protrusion 39 may be conical as shown in FIGS. 6 (3a) and (3b), and a groove 393 for forming a ventilation portion may be provided in a part of the circular cross section.
- a simple conical protrusion the peripheral edge portion of the hole of the protective sheet tends to adhere to the entire peripheral surface of the protrusion, and as a result, the negative pressure of the suction pad may not sufficiently reach the glass plate.
- the protrusion 39 provided with the groove 393 has a gap with the groove 393 even if the protective sheet is in close contact with the peripheral surface, so that the negative pressure reaches the glass plate with the gap as a ventilation portion. Will be.
- FIG. 1 shows a state in which a glass plate that has been leaned diagonally at the pickup position is adsorbed.
- the suction pad 30 is applied to the protective sheet B covering the glass plate P.
- a negative pressure is applied to the suction pad 30 through a suction hose 33 and a support plate 31 from a vacuum source not shown.
- the protective sheet B is sucked toward the recessed inner surface 38 side of the suction pad 30.
- the perforation b ⁇ b> 0 is formed in the protective sheet B by being sucked beyond the tip 391 of the protrusion 39.
- the triangular perforation b0 by the protrusion 39 generates a ventilation part b1 by a cut extending in a radial direction from each vertex (ridge line of the polygonal pyramid).
- the ventilation portion (cut) b1 is formed to extend long.
- the ventilation part b1 is formed through the front and back surfaces of the protective sheet B. As a result, the suction force effectively acts on the glass plate.
- the peripheral portion of the perforation b0 is likely to be in close contact with the entire peripheral surface of the protrusion, and the ventilation portion b1 is difficult to be formed. Air flow may not be obtained.
- the negative pressure from the vacuum source acts on the glass plate P through the perforations b0 and the ventilation portion b1, and the glass plate P is adsorbed by the suction pad 30.
- the suction device 3 is moved to a predetermined position by the moving means 1 and the negative pressure from the vacuum source is released after the movement, the glass plate P can be installed at the predetermined position together with the protective sheet B.
- This installation may be any of single or stacked, horizontal, vertical or diagonal. Since the suction force of the suction pad reaches the glass plate through the perforations b0 and the like even if there are some wrinkles in the protective sheet, reliable suction is possible. Thus, as a result of the suction force of the suction pad reliably reaching the glass plate, accidents such as dropping of the glass plate during transfer can be prevented.
- the suction pad 30 in this transfer device includes a stopper 36 extending from the recessed inner surface 38 toward the opening end surface 371.
- the stopper 36 has a columnar shape and is provided at four locations on the base portion 35, and each extends beyond the tip portion 391 of the protrusion 39 to a position before the opening end surface 371.
- the suction pad 30 is used, even when the protective sheet B is sucked, even if the skirt portion 37 is bent and the glass plate P approaches the protrusion 39, the glass plate P will not exceed the stopper 36 when it comes into contact with the stopper 36. Since the movement toward the protrusion 39 is restricted, the glass plate P is prevented from being damaged due to contact with the protrusion 39.
- the stoppers 36 may be arranged in a distributed manner or in a continuous or intermittent ring shape such as a circle or a polygon. Further, the protrusion 39 may be provided outside the inside of the arrangement area of the stopper 36. In this embodiment, the protrusion 39 is bonded to the wall surface of the through hole 351 a in the base portion 35.
- the piercing projections 39 can be provided at various locations on the concave inner surface 38 as illustrated in FIG. 9 (a) is a position of the skirt portion 37, FIG. 9 (b) is a position of the base portion 35, FIG. 9 (c) is a position of the adapter 352 in the base portion 35, and FIG. 9 (d) is a retreat from the end surface of the base portion.
- FIG. 9 (a) is a position of the skirt portion 37
- FIG. 9 (b) is a position of the base portion 35
- FIG. 9 (c) is a position of the adapter 352 in the base portion 35
- FIG. 9 (d) is a retreat from the end surface of the base portion.
- the state where the projections 39 are provided at the positions of the adapters 352 is shown. Since the adapter 352 is usually made of metal, the protrusion 39 can be brazed. Further, the adapter 352 and the protrusion 39 may be integrally machined.
- FIG. 10 shows an example in which two protrusions 39 are provided.
- FIG. 10A shows the position of the skirt portion 37 and the base portion 35
- FIG. 10B shows the position of the base portion 35
- FIG. ) Shows a state in which a protrusion 39 is provided at the position of the skirt portion 37.
- transfer objects are plate-shaped members, such as a laminated board comprised by laminating
- Suction device 30 Suction pad 35: Base portion 36: Stopper 37: Skirt portion 38: Recessed inner surface 39: Protrusion 371: Open end surface B: Protective sheet P: Glass plate b0: Perforation b1: Cut
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- Engineering & Computer Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Manipulator (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
- Re-Forming, After-Treatment, Cutting And Transporting Of Glass Products (AREA)
- Joining Of Glass To Other Materials (AREA)
- Securing Of Glass Panes Or The Like (AREA)
Abstract
Description
3: 吸着装置
30: 吸着パッド
35: ベース部
36: ストッパ
37: スカート部
38: 凹陥状内面
39: 突起
371:開口端面
B: 保護シート
P: ガラス板
b0: 穿孔
b1: 切れ目
Claims (9)
- 吸着パッドを介して作用する負圧により板状部材を吸着保持した状態で、前記板状部材を移送する板状部材の移送装置であって、
前記吸着パッドはその内面に突起を有し、前記板状部材の表面に重ねられた保護シートを負圧により吸着したとき、前記突起が前記保護シートを貫通すると共に、前記保護シートの前記突起による貫通部分の周囲に通気部が形成され、該通気部を介して前記板状部材に作用する負圧により前記板状部材を前記保護シートと共に吸着保持することを特徴とする板状部材の移送装置。 - 前記突起が、その表面に突出方向に沿って延びる切刃を有することを特徴とする請求項1に記載の板状部材の移送装置。
- 前記突起が多角錘形状をなし、該多角錘形状の稜線が前記切刃を構成することを特徴とする請求項2に記載の板状部材の移送装置。
- 前記吸着パッドは、真空源に接続されるベース部と、該ベース部から椀状に延びて開口端面を形成するスカート部とを備え、前記突起が、前記ベース部に設けられていることを特徴とする請求項1~3のいずれか1項に記載の板状部材の移送装置。
- 前記吸着パッドは、真空源に接続されるベース部と、該ベース部から椀状に延びて開口端面を形成するスカート部とを備え、前記突起が、前記ベース部と前記スカート部との境界近傍に設けられていることを特徴とする請求項1~3のいずれか1項に記載の板状部材の移送装置。
- 前記吸着パッドは、その内面から開口端面側へ延びるストッパを備えており、該ストッパは、前記突起の先端部を越え前記開口端面よりも手前の位置まで延びていることを特徴とする請求項1~5のいずれか1項に記載の板状部材の移送装置。
- 前記突起が、金属製であることを特徴とする請求項1~6のいずれか1項に記載の板状部材の移送装置。
- 負圧を発生させる真空源に通じる吸着パッドであって、
パッド内面に突起を有し、該突起がその表面に突出方向に沿って延びる切刃を有することを特徴とする吸着パッド。 - 前記突起が多角錘形状をなし、該多角錘形状の稜線が前記切刃を構成することを特徴とする請求項8に記載の吸着パッド。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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KR1020127023034A KR102043656B1 (ko) | 2010-06-07 | 2011-06-06 | 판 형상 부재의 이송 장치 및 흡착 패드 |
JP2011524098A JP5803670B2 (ja) | 2010-06-07 | 2011-06-06 | 板状部材の移送装置及び吸着パッド |
CN201180022261.8A CN102870204B (zh) | 2010-06-07 | 2011-06-06 | 板状构件的移送装置及吸附垫 |
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JP2010-130010 | 2010-06-07 | ||
JP2010130010 | 2010-06-07 |
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WO2011155443A1 true WO2011155443A1 (ja) | 2011-12-15 |
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PCT/JP2011/062938 WO2011155443A1 (ja) | 2010-06-07 | 2011-06-06 | 板状部材の移送装置及び吸着パッド |
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JP (1) | JP5803670B2 (ja) |
KR (1) | KR102043656B1 (ja) |
CN (1) | CN102870204B (ja) |
TW (2) | TWI516429B (ja) |
WO (1) | WO2011155443A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2019102539A (ja) * | 2017-11-29 | 2019-06-24 | 三星ダイヤモンド工業株式会社 | 基板搬出装置 |
CN111470317A (zh) * | 2020-04-13 | 2020-07-31 | 广州大学 | 一种具有自清洁吸盘机械手的餐具分拣机 |
EP3861569A4 (en) * | 2018-10-04 | 2022-07-06 | Corning Incorporated | APPARATUS AND METHOD FOR ASSISTING DEBONDING AND DEBONDING PROCEDURES THEREOF |
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JP6470331B2 (ja) * | 2017-03-13 | 2019-02-13 | 株式会社東芝 | 把持ツール、把持システム、および把持性能の評価方法 |
JP7148105B2 (ja) * | 2017-09-20 | 2022-10-05 | 株式会社ハーモテック | 吸引装置 |
JP6353969B1 (ja) * | 2017-11-29 | 2018-07-04 | 株式会社ユー・エム・アイ | 搬送具と搬送方法と搬送具ユニット |
CN113249882A (zh) * | 2020-02-11 | 2021-08-13 | Juki株式会社 | 拾取头及输送装置 |
KR102279857B1 (ko) * | 2020-10-08 | 2021-07-22 | (주)하이엠시 | 초경합금을 접합한 디젤 엔진용 타펫의 개량된 제조방법 |
CN114516536A (zh) * | 2020-11-19 | 2022-05-20 | 日本电产三协(浙江)有限公司 | 吸附垫和工业用机器人 |
KR102344896B1 (ko) * | 2021-05-31 | 2021-12-30 | 씰테크 주식회사 | 언더필 형성 방법, 이를 적용한 반도체 패키지의 제조 방법 및 언더필 공정용 이형 필름 |
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JP2019102539A (ja) * | 2017-11-29 | 2019-06-24 | 三星ダイヤモンド工業株式会社 | 基板搬出装置 |
EP3861569A4 (en) * | 2018-10-04 | 2022-07-06 | Corning Incorporated | APPARATUS AND METHOD FOR ASSISTING DEBONDING AND DEBONDING PROCEDURES THEREOF |
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TW201200443A (en) | 2012-01-01 |
JP5803670B2 (ja) | 2015-11-04 |
CN102870204B (zh) | 2016-02-03 |
JPWO2011155443A1 (ja) | 2013-08-01 |
KR102043656B1 (ko) | 2019-11-12 |
KR20130086114A (ko) | 2013-07-31 |
CN102870204A (zh) | 2013-01-09 |
TWI516429B (zh) | 2016-01-11 |
TW201604109A (zh) | 2016-02-01 |
TWI530447B (zh) | 2016-04-21 |
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