WO2022024186A1 - 吸着パッド - Google Patents
吸着パッド Download PDFInfo
- Publication number
- WO2022024186A1 WO2022024186A1 PCT/JP2020/028720 JP2020028720W WO2022024186A1 WO 2022024186 A1 WO2022024186 A1 WO 2022024186A1 JP 2020028720 W JP2020028720 W JP 2020028720W WO 2022024186 A1 WO2022024186 A1 WO 2022024186A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- glass plate
- plate material
- suction pad
- foaming member
- airtight space
- Prior art date
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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
-
- 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
- B65G49/07—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for semiconductor wafers Not used, see H01L21/677
-
- 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
Definitions
- the present invention relates to a suction pad that sucks a plate material such as a glass plate.
- a step of moving the glass plate while adsorbing it with an adsorption pad may be included.
- the conical skirt portion of the bad body is brought into contact with the surface of the glass plate, and the gas in the airtight space formed between the pad body and the glass plate is sucked by a vacuum pump or the like to suck the glass plate.
- the structure that adsorbs is common.
- the glass plate becomes thin, when it is sucked by the suction pad, the glass plate bends in the suction direction and bends unreasonably, which may cause scratches or breakage.
- FIG. 9 of Patent Document 1 discloses that a planar pad made of a porous body through which a negative pressure fluid can pass is arranged in an airtight space, and the work is adsorbed through the pad. Has been done.
- Patent Document 1 when the configuration of FIG. 9 of Patent Document 1 is applied to the adsorption of the glass plate, the skirt portion of the pad body comes into contact with the glass plate via the lip portion thinly formed on the peripheral portion of the pad. That is, since the skirt portion of the pad body is not in direct contact with the glass plate, the suction force of the glass plate may be insufficient.
- Patent Document 1 if a thin-walled lip portion is formed by compressing with a press, the pores are crushed with the press, so that the lip portion functions as a sealing portion that blocks the passage of fluid. There is. In this case, the flexibility is impaired as the rigidity of the lip portion is increased by the press, so that the glass plate may be damaged during adsorption.
- Patent Document 1 discloses that the supply of negative pressure to the airtight space is stopped when the suction of the glass plate is released, but it takes time to separate the suction pad and the glass plate. There is a problem. It is also conceivable to supply a gas that pressurizes the airtight space to separate the suction pad and the glass plate, but in this case, the equipment is complicated because a separate equipment for supplying the pressurized gas is required. New problems such as becoming a gas may occur.
- the present invention which was devised to solve the above problems, is a suction pad that adsorbs a plate material, and is arranged in the airtight space and comes into contact with the pad body that forms an airtight space between the plate material and the plate material.
- the pad body is provided with a first foaming member, and the pad body is provided with an exhaust port for discharging gas in the airtight space and a skirt portion that comes into contact with the plate material on the outside of the outer edge portion of the first foaming member.
- the skirt portion comes into contact with the plate material on the outside of the outer edge portion of the first foaming member, it is easy to secure the airtightness in the airtight space, and the suction force can be improved. Further, if the supply of the negative pressure to the airtight space is stopped, the skirt portion can be separated from the plate material by the restoring force of the elastic deformation, so that the time required for separating the suction pad and the plate material can be shortened. Since the restoring force of the elastic deformation of the skirt is used, there is no need for a separate facility for supplying a gas that pressurizes the airtight space.
- the outer edge portion of the first foaming member is thinner than the inner center portion of the outer edge portion of the first foaming member.
- the skirt portion and the plate material come into contact with each other more reliably on the outside of the outer edge portion of the first foaming member, so that the suction error of the plate material by the suction pad can be prevented.
- the outer edge portion of the first foaming member gradually becomes thinner from the inside to the outside.
- the elastic deformation of the skirt portion occurs smoothly at the time of adsorption, so that the deformation of the plate material due to the contact with the skirt portion can be reduced.
- the elastic deformation of the skirt portion is smoothly restored, so that the adsorbed plate material can be easily separated.
- the first foaming member has an exhaust hole penetrating from the exhaust port toward the plate material in the thickness direction.
- the inner wall of the exhaust port is made of a second foam member.
- the periphery of the exhaust hole of the first foaming member is supported by the second foaming member instead of the pad body. Therefore, local deformation can be alleviated in the portion of the plate material located around the exhaust hole, and the plate material can be prevented from being damaged or damaged. Further, since the opening area of the exhaust port can be reduced by the thickness corresponding to the thickness of the second foam member, the occurrence of local deformation of the plate material itself can be suppressed.
- the inner diameter of the exhaust port is preferably 30 mm or less.
- the opening area of the exhaust port is sufficiently small, it is possible to suppress the local deformation of the plate material at the position corresponding to the exhaust port, and it is possible to further reduce the damage or damage of the plate material.
- the plate material is preferably a glass plate.
- the present invention it is possible to suppress the bending of the plate material while ensuring a high suction force when suction is executed by the suction pad.
- the plate material can be quickly separated when the suction is released by the suction pad.
- the suction device 1 includes a suction pad 2 and a vacuum pump 3.
- the case where the plate material to be adsorbed is the glass plate G will be described.
- the suction pad 2 includes a pad main body 4 that forms an airtight space S with the glass plate G, and a first foam member 5 that is arranged in the airtight space S and comes into contact with the glass plate G.
- the pad body 4 includes an exhaust port 6 for discharging gas (for example, air) in the airtight space S, and a skirt portion 7 that comes into contact with the glass plate G on the radial outside of the first foaming member 5.
- the pad body 4 is made of an elastic body such as rubber that does not allow gas to pass through the airtight space S.
- a vacuum pump 3 is connected to the exhaust port 6 via a pipe 8. By the suction operation of the vacuum pump 3, the gas in the airtight space S is exhausted from the exhaust port 6, and a negative pressure is applied to the airtight space S.
- the inner diameter D of the exhaust port 6 is preferably 30 mm or less, more preferably 25 mm or less, and most preferably 20 mm or less. By doing so, since the exhaust port 6 becomes sufficiently small, it is possible to suppress the local deformation of the glass plate G in the suction direction at the portion corresponding to the exhaust port 6. On the other hand, if the inner diameter D of the exhaust port 6 is too small, the time required for discharging the gas in the airtight space S in the adsorption step described later and the time required for raising the air pressure in the airtight space S to a certain extent in the separation step become long. , The responsiveness may decrease. Therefore, the inner diameter D of the exhaust port 6 is preferably 10 mm or more.
- the skirt portion 7 can be elastically deformed by contact with the glass plate G (see FIGS. 2 and 3), and can be separated from the glass plate G by the restoring force of the elastic deformation (see FIG. 4).
- the skirt portion 7 has a conical shape and gradually decreases in thickness from the inside to the outside.
- the thin tip portion 7a is a contact portion with the glass plate G.
- the first foaming member 5 includes a relatively thin outer edge portion 9 and a relatively thick central portion 10.
- the outer edge portion 9 gradually becomes thinner from the inside to the outside.
- the central portion 10 is a plate-shaped body having a substantially constant thickness.
- the surface of the outer edge portion 9 on the glass plate G side and the surface of the central portion 10 on the glass plate G side are designated as contact surfaces 5a that abut on the glass plate G.
- the central portion 10 is provided with an exhaust hole 11 penetrating from the exhaust port 6 toward the glass plate G in the thickness direction. If the first foaming member 5 has air permeability, the exhaust hole 11 may be omitted, but it is preferable to provide the exhaust hole 11 from the viewpoint of improving the suction force.
- the inner diameter of the exhaust hole 11 is the same as the inner diameter of the exhaust port 6 in the present embodiment, but may be larger or smaller than the inner diameter of the exhaust port 6.
- the first foam member 5 is fixed to the inner wall of the pad body 4.
- the method of fixing the first foaming member 5 is not particularly limited, but the first foaming member 5 is fixed to the inner wall of the pad body 4 with an adhesive, for example.
- the first foam member 5 is not fixed to the inner wall of the tip portion 7a of the skirt portion 7. That is, when viewed from the glass plate G side, the tip portion 7a of the skirt portion 7 protrudes outward in the radial direction of the first foaming member 5.
- the radial protrusion width W of the tip portion 7a of the skirt portion 7 is preferably 2 mm to 10 mm.
- a through hole 12 penetrating in the thickness direction is provided in the center of the pad body 4, and a cylindrical second foam member 13 is arranged on the inner wall of the through hole 12. That is, the inner hole of the cylindrical second foaming member 13 functions as the exhaust port 6.
- the second foam member 13 By arranging the second foam member 13 in this way, it becomes easy to adjust the inner diameter of the exhaust port 6 according to the thickness of the glass plate G.
- the periphery of the exhaust hole 11 of the first foaming member 5 is supported not by the pad body 4 but by the second foaming member 13 which is easily deformed. Therefore, local deformation can be alleviated in the portion of the glass plate G located around the exhaust hole 11, and the glass plate G can be prevented from being damaged or damaged.
- the second foam member 13 is inserted into the through hole 12 in a compressed state, and is fixed to the inner wall of the through hole 12 by utilizing the restoring force thereof. That is, the second foam member 13 is not adhesively fixed to the inner wall of the through hole 12.
- the insertion depth of the second foam member 13 is regulated by the first foam member 5.
- the method of fixing the second foam member 13 is not particularly limited, and may be fixed to the peripheral wall of the exhaust port 6 with an adhesive, for example.
- the second foaming member 13 may be omitted.
- the first foaming member 5 and the second foaming member 13 are porous elastic bodies having a closed cell structure or an open cell structure, and for example, a polyurethane sponge can be used.
- the first foaming member 5 and the second foaming member 13 may be made of different materials having different foaming ratios and the like.
- the first foaming member 5 has a high density (high hardness) and the second foaming member 13 has a different material. It may be low density (low hardness).
- the first foaming member 5 and the second foaming member 13 may be made of the same material.
- the tip portion 7a of the skirt portion 7 of the suction pad 2 is brought into contact with the surface of the glass plate G.
- the gas in the airtight space S of the suction pad 2 is vacuum-sucked by the suction operation of the vacuum pump 3.
- the skirt portion 7 of the pad body 4 is strongly pressed against the surface Ga of the glass plate G while the volume of the airtight space S decreases, and the skirt portion 7 is elastic. transform.
- the contact surface 5a of the first foaming member 5 in the airtight space S is also strongly pressed against the surface Ga of the glass plate G, and the first foaming member 5 is compressed and deformed.
- the tip portion 7a of the skirt portion 7 comes into contact with the surface Ga of the glass plate G and is deformed so as to follow the surface Ga of the glass plate G.
- the glass plate G is reliably attracted to the suction pad 2 by the negative pressure.
- the first foaming member 5 having an appropriate cushioning property is pressure-welded to the surface Ga of the glass plate G, the bending of the glass plate G in the suction direction is suppressed. Therefore, the glass plate G is less likely to be bent due to unreasonable bending, and scratches and breakage of the glass plate G can be suppressed. Further, since the skirt portion 7 comes into direct contact with the glass plate G on the radial outside of the outer edge portion 9 of the first foaming member 5, it is easy to secure the airtightness in the airtight space S and improve the adsorption force. can.
- the suction operation of the vacuum pump 3 is stopped and the airtight space S is opened to the atmosphere.
- the tip portion 7a of the skirt portion 7 tends to return to its original shape due to the restoring force of the elastic deformation, as shown in an enlarged manner in FIG.
- the glass plate G is pressed in the direction away from the suction pad 2.
- the glass plate G is quickly separated from the suction pad 2.
- the time required to separate the suction pad and the glass plate can be shortened.
- the restoring force of the elastic deformation of the skirt portion 7 is used, there is an advantage that a facility for supplying a gas for pressurizing the inside of the airtight space S is not required separately.
- the thickness of the thin tip portion 7a which is deformed to warp following the surface Ga of the glass plate G in the adsorption step, is preferably 2 to 10 mm, for example.
- the tip portion 7a of the thin wall preferably has a radial width of, for example, 2 mm or more, more preferably a protrusion width W or more, and further preferably (W + 5) mm or more.
- the upper limit is preferably, for example, (W + 15) mm or less.
- the glass plate G has flexibility.
- the effect of suppressing the bending of the glass plate G becomes more remarkable as the thickness of the glass plate G becomes thinner. Therefore, the thickness of the glass plate G is preferably 0.5 mm or less, preferably 0.4 mm or less. Is more preferable, and 0.3 mm or less is further preferable.
- the lower limit is preferably 0.05 mm or more.
- the suction pad 2 is used, for example, when moving the glass plate G in the manufacturing process (mainly the processing process) of the glass plate G. Specifically, when the glass plate G is cut to a predetermined size and then moved, when the glass plate for inspection is pulled out from the transport path of the glass plate G, when the glass plate G is loaded on the packing pallet, the glass plate G is used. Is used when unloading from the packing pallet. Further, the suction pad 2 may suck and separate the glass plate G in a vertical posture (for example, a vertical posture), or may suck and separate the glass plate G in a horizontal posture (for example, a horizontal posture).
- a vertical posture for example, a vertical posture
- a horizontal posture for example, a horizontal posture
- the plate material is a glass plate G
- the plate material is not limited to this.
- the present invention can be applied to a plate material such as a metal plate, a silicon plate (silicon wafer), a resin plate, and a laminate of a glass plate and a resin plate. From the viewpoint of obtaining the effect of suppressing the bending of the glass plate G, it is preferable that the plate material has flexibility.
- Suction device 2 Suction pad 3 Vacuum pump 4 Pad body 5
- First foaming member 5a Contact surface 6
- Skirt part 7a Tip part 8
- Piping 9 Outer edge part 10
- Center part 11 Exhaust hole 12 Through hole 13
- Second foaming member G Glass plate Ga Surface S Airtight space
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manufacturing & Machinery (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
- Manipulator (AREA)
Abstract
Description
2 吸着パッド
3 真空ポンプ
4 パッド本体
5 第一発泡部材
5a 当接面
6 排気口
7 スカート部
7a 先端部
8 配管
9 外縁部
10 中心部
11 排気孔
12 貫通孔
13 第二発泡部材
G ガラス板
Ga 表面
S 気密空間
Claims (7)
- 板材を吸着する吸着パッドであって、
前記板材との間に気密空間を形成するパッド本体と、前記気密空間内に配置されて前記板材と接触する第一発泡部材と、を備え、
前記パッド本体は、前記気密空間内の気体を排出するための排気口と、前記第一発泡部材の外縁部の外側で前記板材と接触するスカート部と、を備え、
前記スカート部は、前記板材との接触により弾性変形可能であり、かつ、前記弾性変形の復元力により前記板材から分離可能であることを特徴とする吸着パッド。 - 前記第一発泡部材の外縁部は、前記第一発泡部材の外縁部の内側の中心部よりも厚みが薄いことを特徴とする請求項1に記載の吸着パッド。
- 前記第一発泡部材の外縁部は、内側から外側に向かって漸次薄くなることを特徴とする請求項2に記載の吸着パッド。
- 前記第一発泡部材は、前記排気口から前記板材に向かって厚み方向に貫通した排気孔を有することを特徴とする請求項1~3のいずれか1項に記載の吸着パッド。
- 前記排気口の内壁が、第二発泡部材で構成されていることを特徴とする請求項4に記載の吸着パッド。
- 前記排気口の内径が、30mm以下であることを特徴とする請求項1~5のいずれか1項に記載の吸着パッド。
- 前記板材が、ガラス板であることを特徴とする請求項1~6のいずれか1項に記載の吸着パッド。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2020/028720 WO2022024186A1 (ja) | 2020-07-27 | 2020-07-27 | 吸着パッド |
CN202080102624.8A CN115867415A (zh) | 2020-07-27 | 2020-07-27 | 吸附垫 |
KR1020237003339A KR20230041717A (ko) | 2020-07-27 | 2020-07-27 | 흡착 패드 |
JP2022539807A JP7494913B2 (ja) | 2020-07-27 | 2020-07-27 | 吸着パッド |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2020/028720 WO2022024186A1 (ja) | 2020-07-27 | 2020-07-27 | 吸着パッド |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022024186A1 true WO2022024186A1 (ja) | 2022-02-03 |
Family
ID=80037824
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2020/028720 WO2022024186A1 (ja) | 2020-07-27 | 2020-07-27 | 吸着パッド |
Country Status (4)
Country | Link |
---|---|
JP (1) | JP7494913B2 (ja) |
KR (1) | KR20230041717A (ja) |
CN (1) | CN115867415A (ja) |
WO (1) | WO2022024186A1 (ja) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60187143U (ja) * | 1984-05-23 | 1985-12-11 | 丸山 一郎 | 吸着具 |
KR100555726B1 (ko) * | 2005-01-11 | 2006-03-03 | 세크론 주식회사 | 반도체 패키지 흡착용 진공패드 |
JP2006089235A (ja) * | 2004-09-24 | 2006-04-06 | Kao Corp | 物品の移動装置 |
JP2006142441A (ja) * | 2004-11-22 | 2006-06-08 | Koganei Corp | 真空吸着具 |
JP2008238306A (ja) * | 2007-03-26 | 2008-10-09 | Stella Giken Kk | 真空吸着パッド |
JP2012110982A (ja) * | 2010-11-22 | 2012-06-14 | Smc Corp | 真空吸着装置 |
-
2020
- 2020-07-27 KR KR1020237003339A patent/KR20230041717A/ko unknown
- 2020-07-27 CN CN202080102624.8A patent/CN115867415A/zh active Pending
- 2020-07-27 JP JP2022539807A patent/JP7494913B2/ja active Active
- 2020-07-27 WO PCT/JP2020/028720 patent/WO2022024186A1/ja active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60187143U (ja) * | 1984-05-23 | 1985-12-11 | 丸山 一郎 | 吸着具 |
JP2006089235A (ja) * | 2004-09-24 | 2006-04-06 | Kao Corp | 物品の移動装置 |
JP2006142441A (ja) * | 2004-11-22 | 2006-06-08 | Koganei Corp | 真空吸着具 |
KR100555726B1 (ko) * | 2005-01-11 | 2006-03-03 | 세크론 주식회사 | 반도체 패키지 흡착용 진공패드 |
JP2008238306A (ja) * | 2007-03-26 | 2008-10-09 | Stella Giken Kk | 真空吸着パッド |
JP2012110982A (ja) * | 2010-11-22 | 2012-06-14 | Smc Corp | 真空吸着装置 |
Also Published As
Publication number | Publication date |
---|---|
KR20230041717A (ko) | 2023-03-24 |
JP7494913B2 (ja) | 2024-06-04 |
JPWO2022024186A1 (ja) | 2022-02-03 |
CN115867415A (zh) | 2023-03-28 |
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