TW200724329A - Adsorption head device - Google Patents

Adsorption head device

Info

Publication number
TW200724329A
TW200724329A TW095138175A TW95138175A TW200724329A TW 200724329 A TW200724329 A TW 200724329A TW 095138175 A TW095138175 A TW 095138175A TW 95138175 A TW95138175 A TW 95138175A TW 200724329 A TW200724329 A TW 200724329A
Authority
TW
Taiwan
Prior art keywords
adsorption
workpiece
adsorption pad
grasping
adsorped
Prior art date
Application number
TW095138175A
Other languages
Chinese (zh)
Other versions
TWI363678B (en
Inventor
Toshihiko Watanabe
Takahiko Tanomi
Original Assignee
Hirata Spinning
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hirata Spinning filed Critical Hirata Spinning
Publication of TW200724329A publication Critical patent/TW200724329A/en
Application granted granted Critical
Publication of TWI363678B publication Critical patent/TWI363678B/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/028—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by cams
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
    • H05K13/0408—Incorporating a pick-up tool
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
    • H05K13/0408—Incorporating a pick-up tool
    • H05K13/0409—Sucking devices
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
    • H05K13/0413—Pick-and-place heads or apparatus, e.g. with jaws with orientation of the component while holding it; Drive mechanisms for gripping tools, e.g. lifting, lowering or turning of gripping tools

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Specific Conveyance Elements (AREA)
  • Automatic Assembly (AREA)

Abstract

The adsorption head device of the present invention includes an adsorption pad (20) for adsorbing workpiece (W), and adsorption generating mechanism (70) for making the adsorption pad (20) bring about an adsorption affinity, a shaft (30) for holding the adsorption pad (20) at lower end and moving up and down, a lifting mechanism (40) for causing the shaft (30) move up and down, grasping mechanisms (50,60) for grasping from substantially horizontal direction the workpiece (W) adsorped by the adsorption pad (20), and a control means (80) which drives and controls the adsorption generating mechanism (70), after the workpiece (W) has been grasped by the grasping mechanism, by temporarily releasing the adsorped state caused by the adsorption pad (20) and then adsorpting again, thereby to transfer surly the workpiece in a high accurately positioned state even if the grasped state by the grasping mechanism and the adsorped state by the adsorption pad are released in sequence.
TW095138175A 2005-10-18 2006-10-17 Adsorption head device TWI363678B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2005/019451 WO2007046152A1 (en) 2005-10-18 2005-10-18 Suction head device

Publications (2)

Publication Number Publication Date
TW200724329A true TW200724329A (en) 2007-07-01
TWI363678B TWI363678B (en) 2012-05-11

Family

ID=37962254

Family Applications (1)

Application Number Title Priority Date Filing Date
TW095138175A TWI363678B (en) 2005-10-18 2006-10-17 Adsorption head device

Country Status (4)

Country Link
JP (1) JP4891251B2 (en)
CN (1) CN101282824B (en)
TW (1) TWI363678B (en)
WO (1) WO2007046152A1 (en)

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TWI696532B (en) * 2017-08-31 2020-06-21 日商川崎重工業股份有限公司 Holding device
TWI734192B (en) * 2018-09-25 2021-07-21 日商川崎重工業股份有限公司 Robot system

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JP4490996B2 (en) * 2007-07-18 2010-06-30 ジヤトコ株式会社 Suction socket and bolt transport insertion device using the same
JP2010118424A (en) * 2008-11-12 2010-05-27 Disco Abrasive Syst Ltd Conveying device for thin plate type workpiece
JP5287603B2 (en) * 2009-08-26 2013-09-11 ウシオ電機株式会社 Board transfer arm
JP5550882B2 (en) * 2009-10-19 2014-07-16 東京応化工業株式会社 Coating device
KR101169734B1 (en) * 2010-01-04 2012-07-30 삼성전기주식회사 Apparatus of transferring substrate
DE102010048670A1 (en) * 2010-10-16 2012-04-19 Volkswagen Ag Method for handling workpiece e.g. chassis panel of motorcar, involves moving receiving element of holding unit in specific direction, such that workpiece and holding element of holding unit are detachably attached with each other
JP2013039644A (en) * 2011-08-18 2013-02-28 Okura Yusoki Co Ltd Article holding device
US9075031B2 (en) * 2011-10-11 2015-07-07 Ortho-Clinical Diagnostics, Inc. Apparatus for gripping and holding diagnostic cassettes
CN102513962A (en) * 2011-12-29 2012-06-27 中国科学院长春光学精密机械与物理研究所 Chip unplugging device
CN102554060B (en) * 2012-02-22 2014-12-10 奇瑞汽车股份有限公司 Tooling for stamping production line
CN103369942B (en) * 2012-03-28 2017-08-18 富泰华工业（深圳）有限公司 Fetching device
CN102674018A (en) * 2012-04-24 2012-09-19 常州新区中策机械设备有限公司 Palletizing robot
JP6125203B2 (en) * 2012-11-08 2017-05-10 日置電機株式会社 Substrate transfer device
CN103341756A (en) * 2013-06-27 2013-10-09 苏州菱欧自动化设备有限公司 Cam absorbing clamping and positioning mechanism
CN103587943B (en) * 2013-10-25 2016-08-24 大连恭德科技有限公司 LED panel catching robot
JP6397185B2 (en) * 2013-12-10 2018-09-26 川崎重工業株式会社 Robot cell
JP6383537B2 (en) * 2013-12-10 2018-08-29 川崎重工業株式会社 Robot hand, robot, and robot cell
CN105234953B (en) * 2014-07-07 2019-06-11 科沃斯商用机器人有限公司 For moving the sucker and its removable adsorbent equipment of adsorbent equipment
JP6549709B2 (en) * 2015-06-03 2019-07-24 株式会社Ｆｕｊｉ Parts mounting machine
CN108472814B (en) * 2016-01-08 2021-07-16 伯克希尔格雷股份有限公司 System and method for acquiring and moving objects
JP6571583B2 (en) * 2016-04-15 2019-09-04 ファナック株式会社 Robotic gripping device
US10583568B2 (en) 2016-10-27 2020-03-10 Mitsubishi Electric Corporation Workpiece conveying device
JP6634059B2 (en) * 2017-10-16 2020-01-22 シナノケンシ株式会社 Cam type hand mechanism
JP6858142B2 (en) * 2018-01-22 2021-04-14 川崎重工業株式会社 Robot hand
CN109018507A (en) * 2018-08-08 2018-12-18 珠海市商劲智能机械设备有限公司 A kind of Full-automatic picking film and hair film device
WO2020053820A1 (en) * 2018-09-13 2020-03-19 Universita' Degli Studi Di Genova Device and method for gripping objects
CN109202351B (en) * 2018-09-30 2024-03-22 苏州富强科技有限公司 Blowing and sucking integrated adsorption mechanism
JP7234591B2 (en) * 2018-11-14 2023-03-08 富士電機株式会社 gripping unit
JP7238375B2 (en) * 2018-12-14 2023-03-14 富士電機株式会社 Holding mechanism and transportation method
JP7168514B2 (en) 2019-04-05 2022-11-09 川崎重工業株式会社 Holding device and robot equipped with the same
JP2020192648A (en) * 2019-05-29 2020-12-03 株式会社日立製作所 End effector and picking system
CN110697147A (en) * 2019-10-23 2020-01-17 苏州领裕电子科技有限公司 A inhale material device that is used for wireless accessory pad pasting that charges
CN111633421A (en) * 2020-06-11 2020-09-08 广东天机工业智能***有限公司 Material sticking device
WO2022020159A1 (en) 2020-07-22 2022-01-27 Berkshire Grey, Inc. Systems and methods for object processing using a passively collapsing vacuum gripper
US20220024705A1 (en) 2020-07-22 2022-01-27 Berkshire Grey, Inc. Systems and methods for object processing using a vacuum gripper that provides object retention by evacuation

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KR100210066B1 (en) * 1995-08-31 1999-07-15 윤종용 Apparatus for driving the turn table of a microwave oven
JP2000006076A (en) * 1998-06-19 2000-01-11 Tescon Co Ltd Semiconductor chip transfer device
JP4055271B2 (en) * 1998-11-16 2008-03-05 日産自動車株式会社 Apparatus and method for attracting and holding workpieces
JP4119583B2 (en) * 1999-10-06 2008-07-16 株式会社東興 Differential 4-jaw chuck
JP2001260065A (en) * 2000-03-17 2001-09-25 Advantest Corp Parts retainer
JP3828722B2 (en) * 2000-07-12 2006-10-04 日本碍子株式会社 Ceramic columnar transfer device and transfer method
CN2482099Y (en) * 2001-04-09 2002-03-13 矽统科技股份有限公司 Measuring head of integrated circuit test sorter

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI696532B (en) * 2017-08-31 2020-06-21 日商川崎重工業股份有限公司 Holding device
TWI734192B (en) * 2018-09-25 2021-07-21 日商川崎重工業股份有限公司 Robot system

Also Published As

Publication number Publication date
CN101282824A (en) 2008-10-08
TWI363678B (en) 2012-05-11
CN101282824B (en) 2012-09-05
JPWO2007046152A1 (en) 2009-04-23
WO2007046152A1 (en) 2007-04-26
JP4891251B2 (en) 2012-03-07

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