Copying apparatus

Abstract

To provide a copying apparatus capable of reducing particles generated during operation.SOLUTION: A copying apparatus 100 comprises: a crimping tool 10; a swing body 20 to which the crimping tool 10 is attached; a device base board 30; and a rotational stopping mechanism. The rotational stopping mechanism comprises: a rotational stopping member 51; a groove definition part 54; a communication path; and an absorption port. The groove definition part 54 comprises a seal surface that defines a groove part 54a that is opened toward a base end surface 30a as well as being provided to the rotational stopping member 51, and is contacted and separated to / from the base end surface 30a on the open side of the groove part 54a. The communication path can be communicated with the groove part 54a as well as being formed into an internal part of the device base board 30. The adsorption port is communicated with the communication path.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an imitation device.

Background Art

[0002] Conventionally, an imitation device is used in a chip mounter that conveys a semiconductor chip onto a lead frame of a die bonding device. The imitation device includes a base having a concave hemispherical surface and a movable member as a swing body having a convex hemispherical surface. The imitation device brings the surface of the movable member into contact with a reference surface of an object to be imitated by the swing body. The imitation device rotates the movable member along the object and makes the movable member and the object parallel by bringing the surface of the movable member into contact with the reference surface. That is, the imitation device performs an operation of making the surface of the movable member and the object imitate each other. In this operation, the movable member rotates about the X-axis and the Y-axis that are orthogonal to each other in the same plane.

[0003] Further, the imitation device restricts the rotation of the movable member around the Z-axis orthogonal to the plane including the X-axis and the Y-axis by a rotation prevention device (see, for example, Patent Document 1). The rotation prevention device disclosed in Patent Document 1 includes a rotation restricting pin provided on the movable member and a side plate, and a pin insertion groove provided on the rotation prevention ring. The rotation restricting pin is engaged with the pin insertion groove. Further, in the rotation prevention device disclosed in Patent Document 1, the rotation prevention ring is supported by a pressing member and is interposed between the movable member mounted on the base and the pressing member.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] When the imitation device conveys an object, the rotation prevention ring moves between the movable member and the pressing member, and the base and the rotation prevention ring are in sliding contact with each other, which may generate particles.

Means for Solving the Problems

[0006] The imitation device for solving the above problems includes a device base having a base end surface including a base engaging surface which is either a concave spherical surface or a convex spherical surface, a swing body swingably attached to the device base, a swing body engaging surface that engages with the base engaging surface, and a swing body having a swing body pressing surface which is a surface different from the swing body engaging surface as an end surface, a pressing tool having a pressing tool swing surface attached to the swing body pressing surface and having a pressing tool contact surface as an end surface different from the pressing tool swing surface, and a rotation prevention mechanism for restricting the rotation of the swing body around a first axis orthogonal to the swing body pressing surface in the swing body. The rotation prevention mechanism includes a rotation prevention member that surrounds the swing body around the first axis and is attached to the device base so as to be reciprocally movable in a first axis direction in which the first axis extends, two protrusions provided on an outer peripheral surface of the swing body and arranged in a second axis direction in which a second axis orthogonal to the first axis extends, and two concave portions provided on the rotation prevention member and engaging with each of the two protrusions. The imitation device adjusts the pressing tool contact surface parallel to a reference surface by swinging the swing body while restricting the rotation of the swing body by the rotation prevention mechanism. The rotation prevention mechanism includes a groove defining portion provided on the rotation prevention member and defining a groove portion that opens toward the base end surface and having a seal surface that contacts and separates from the base end surface on the opening side of the groove portion, a communication path formed inside the device base and communicable with the groove portion, and a suction port communicating with the communication path.

[0007] In the above-described imitation device, the rotation prevention member faces the end face of the base and has a flange portion extending in a direction orthogonal to the first axis, and a plurality of mounting holes formed in the flange portion, extending in a third axis direction in which a third axis orthogonal to the first axis and the second axis extends, and penetrating in the first axis direction. The rotation prevention member may be supported by a plurality of mounting pins inserted into each of the mounting holes and fixed to the end face of the base.

[0008] In the above-described imitation device, the space between the seal surface and the end face of the base may be sealed by a metal touch seal between the seal surface and the end face of the base. In the above-described imitation device, the groove portion has a groove widening portion that widens in a direction orthogonal to the first axis at a portion adjacent to each of the plurality of mounting holes, and the groove widening portion may be aligned with an opening formed on the base end face side of the communication passage in the first axis direction.

[0009] In the above-described imitation device, the number of the plurality of mounting holes is two, the number of the plurality of mounting pins is two, the end face of the base is square when viewed from the direction in which the first axis extends, and each of the two mounting pins may be fixed to two corners located in the diagonal direction of the end face of the base among the four corners of the end face of the base.

Advantages of the Invention

[0010] According to the present invention, particles generated during the operation of the imitation device can be reduced.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiments for Carrying Out the Invention

[0012] Hereinafter, an embodiment in which the imitation device is embodied will be described with reference to FIGS. 1 to 8. <Overall Image of the Imitation Device> As shown in FIGS. 1 and 2, the imitation device 100 includes a crimping tool 10, a swing body 20, a device base 30, a locking mechanism 40, and an anti-rotation mechanism 50.

[0013] <Crimping Tool> As shown in FIG. 2, the crimping tool 10 is columnar with each of the crimping tool contact surface 10a and the crimping tool swing surface 10b as end faces. The central axis of the crimping tool 10 coincides with the first axis L1 extending in the first axial direction A1 which is the direction in which the crimping tool contact surface 10a and the crimping tool swing surface 10b are aligned. Therefore, the crimping tool 10 has the crimping tool swing surface 10b and has an end face different from the crimping tool swing surface 10b as the crimping tool contact surface 10a.

[0014] The crimping tool 10 is attached to the swing body 20. The crimping tool swing surface 10b faces the swing body crimping surface 20a described later. The crimping tool contact surface 10a faces the reference surface S shown in FIG. 5 described later. That is, the crimping tool 10 has the crimping tool swing surface 10b attached to the swing body crimping surface 20a and has an end face different from the crimping tool swing surface 10b as the crimping tool contact surface 10a.

[0015] <Swing Body> The swinging body 20 will be described with reference to FIGS. 1 and 2. The swinging body 20 is a columnar body having a swinging body crimping surface 20a on one end face and a swinging body engaging surface 20b which is a convex spherical surface on the other end face. The swinging body crimping surface 20a and the swinging body engaging surface 20b are arranged side by side in the first axial direction A1. The central axis of the swinging body 20 coincides with the first axis L1. Further, the first axis L1 is orthogonal to the swinging body crimping surface 20a. A crimping tool 10 is attached to the swinging body crimping surface 20a. As will be described later, the swinging body engaging surface 20b engages with the base engaging surface 301a. That is, the swinging body 20 has a swinging body engaging surface 20b that engages with the base engaging surface 301a and a swinging body crimping surface 20a that is a surface different from the swinging body engaging surface 20b as end faces.

[0016] The swinging body 20 includes a swinging body inner peripheral surface 20c that defines a swinging body insertion hole 21. The swinging body insertion hole 21 opens at the swinging body crimping surface 20a and the swinging body engaging surface 20b. The swinging body inner peripheral surface 20c connects the swinging body crimping surface 20a and the swinging body engaging surface 20b. The swinging body 20 is cylindrical and extends from the swinging body crimping surface 20a to the swinging body engaging surface 20b.

[0017] The swinging body 20 has a swinging body end face 20d for holding that is continuous with the swinging body inner peripheral surface 20c. The swinging body end face 20d for holding is a concave spherical shape formed between the swinging body crimping surface 20a and the swinging body engaging surface 20b. The diameter of the swinging body insertion hole 21 defined by the portion of the swinging body inner peripheral surface 20c on the swinging body crimping surface 20a side with respect to the swinging body end face 20d for holding is larger than the diameter of the swinging body insertion hole 21 defined by the portion of the swinging body inner peripheral surface 20c on the swinging body engaging surface 20b side with respect to the swinging body end face 20d for holding. That is, the swinging body insertion hole 21 expands in diameter in the first axial direction A1 in the direction from the swinging body engaging surface 20b toward the swinging body crimping surface 20a.

[0018] The swinging body 20 includes a swinging body outer peripheral surface 20e. The swinging body outer peripheral surface 20e is continuous with the swinging body crimping surface 20a and the swinging body engaging surface 20b. Here, the direction in which the second axis L2 orthogonal to the first axis L1 extends is defined as the second axis direction A2. The rolling element 20 is located on the outer peripheral surface 20e of the rolling element and includes a first protrusion 23a and a second protrusion 23b that extend in the second axis direction A2. Each of the first protrusion 23a and the second protrusion 23b is located on the opposite side with the first axis L1 interposed therebetween. That is, each of the first protrusion 23a and the second protrusion 23b is provided on the outer peripheral surface 20e of the rolling element 20 and is arranged in the second axis direction A2 in which the second axis L2 orthogonal to the first axis L1 extends. Therefore, the first protrusion 23a and the second protrusion 23b are two protrusions.

[0019] As shown in FIGS. 5 and 6, each of the first protrusion 23a and the second protrusion 23b has a circular cross section when viewed in the extending direction of the second axis L2. <Device base> As shown in FIGS. 1 and 2, the device base 30 has a quadrangular prism shape. The direction in which the base axis LB of the device base 30 extends is defined as the axial direction of the device base 30. The device base 30 includes a base end face 30a including a base engagement surface 301a that is a concave spherical surface on one end side in the axial direction, and a top plate installation surface 30b on the other end side in the axial direction. The top plate installation surface 30b is a surface different from the base end face 30a and is a surface on the opposite side of the base end face 30a. Among the base end face 30a, the surfaces other than the base engagement surface 301a are parallel to the top plate installation surface 30b. That is, the device base 30 includes a base end face 30a including a base engagement surface 301a that is either a convex spherical surface or a concave spherical surface.

[0020] In the axial direction of the device base 30, the rolling element 20 is provided on the side of the base end face 30a, and the rolling element engagement surface 20b and the base engagement surface 301a face each other. That is, the crimping tool 10, the rolling element 20, and the device base 30 are arranged side by side in the axial direction of the device base 30. Also, the radius of curvature of the base engagement surface 301a coincides with the radius of curvature of the rolling element engagement surface 20b. That is, the rolling element 20 is located on the side of the base end face 30a of the device base 30 so as to be swingable along the base engagement surface 301a. In other words, the rolling element 20 is swingably attached to the device base 30.

[0021] The device base 30 has an inner circumferential surface 30c of the base that defines a base insertion hole 31 opening at the base engagement surface 301a and the top plate installation surface 30b. The base axis LB coincides with the central axis (not shown) in the base insertion hole 31. The device base 30 has an outer surface 30e of the base composed of four surfaces. The outer edge at the base end face 30a and the outer edge of the top plate installation surface 30b are connected by the outer surface 30e of the base. That is, the base engagement surface 301a is located inside the base end face 30a when viewed in the axial direction of the device base 30.

[0022] The inner circumferential surface 30c of the base is formed by a first defining surface 301c and a second defining surface 302c. The first defining surface 301c and the second defining surface 302c are continuous via a base step surface 30d. The base step surface 30d is perpendicular to the first defining surface 301c and the second defining surface 302c and is parallel to the top plate installation surface 30b. The base step surface 30d faces the same direction as the top plate installation surface 30b.

[0023] The first defining surface 301c is located on the base engagement surface 301a side of the inner circumferential surface 30c of the base and is connected to the base engagement surface 301a. The second defining surface 302c is located on the top plate installation surface 30b side of the inner circumferential surface 30c of the base and is connected to the top plate installation surface 30b. Among the diameters of the base insertion hole 31, the diameter of the portion defined by the first defining surface 301c is smaller than the diameter of the portion defined by the second defining surface 302c. That is, the base insertion hole 31 expands in diameter from the base end face 30a toward the top plate installation surface 30b in the axial direction of the device base 30.

[0024] On the base end face 30a, each of a pair of opposing corners among the four corners at the base end face 30a is formed with a first base mounting hole H1 and a second base mounting hole H2, respectively. In the device base 30, substantially the entire base engaging surface 301a is formed of an annular porous material 32. A plurality of holes are formed in the annular porous material 32. The device base 30 is provided with an air shaft receiving port 33 on the outer surface 30e of the base. Further, an air shaft receiving air supply / discharge chamber 34 is formed inside the device base 30. The air shaft receiving air supply / discharge chamber 34 communicates with the air shaft receiving port 33 and also communicates with the outside of the device base 30 through the annular porous material 32.

[0025] The device base 30 is provided with a locking port 35 and a suction port 36 on the outer surface 30e of the base. Further, the device base 30 defines a communication passage 37 inside the device base 30. When the base end face 30a abuts against a rotation preventing member 51 described later, the communication passage 37 communicates the suction port 36 with a groove portion 54a described later. The communication passage 37 opens at the base end face 30a and forms an opening 38 at the base end face 30a. That is, the imitation device 100 includes a communication passage 37 formed inside the device base 30 and capable of communicating with the groove portion 54a, and a suction port 36 communicating with the communication passage 37.

[0026] The top plate installation surface 30b has a top plate 60 attached thereto. The top plate 60 is attached so as to cover the opening of the top plate installation surface 30b by the base insertion hole 31. <Locking mechanism> As shown in FIGS. 1 and 2, the locking mechanism 40 includes a locking piston 41 and a locking shaft 42. Further, the locking mechanism 40 includes a magnet holding member 43, a magnet 44, a first seal 45, and a second seal 46.

[0027] The locking piston 41 has a disk-shaped piston body 411 and a male screw portion 412 extending from the central portion of the piston body 411. The axial direction of the locking piston 41 coincides with the axial direction of the device base 30. The locking piston 41 is accommodated in the base insertion hole 31 so as to be reciprocable in the axial direction of the device base 30 along the inner peripheral surface 30c of the base.

[0028] The outer peripheral surface 41c of the lock piston of the piston body 411 faces the second defining surface 302c. A second seal 46 is provided on the outer peripheral surface 41c of the lock piston. The second seal 46 seals between the second defining surface 302c and the outer peripheral surface 41c of the lock piston. The piston body 411 has a lock piston step surface 41d that faces the base step surface 30d in the axial direction of the device base 30. The lock piston step surface 41d faces the same direction as the base end surface 30a.

[0029] The axial direction of the lock shaft 42 coincides with the axial direction of the device base 30. The lock shaft 42 is accommodated in the base insertion hole 31 so as to be reciprocable integrally with the lock piston 41 in the axial direction of the device base 30.

[0030] A lock shaft insertion hole 42a extending in the axial direction of the lock shaft 42 is defined in the lock shaft 42. The lock shaft 42 is provided with an internal thread portion 421 in the lock shaft insertion hole 42a. The external thread portion 412 of the piston body 411 and the internal thread portion 421 of the lock shaft 42 are screwed together.

[0031] The lock shaft 42 is provided with a lock shaft extension portion 42b at the end opposite to the end on the side of the internal thread portion 421 among both ends in the axial direction of the lock shaft 42. The lock shaft extension portion 42b extends more than other portions of the lock shaft 42 in a direction orthogonal to the base axis LB. The lock shaft 42 is provided with a lock shaft engagement surface 42c that is convex spherical on the surface of the lock shaft extension portion 42b that is continuous with the outer peripheral surface of the lock shaft 42. The radius of curvature of the lock shaft engagement surface 42c is the same as the radius of curvature of the holding swing body end surface 20d that is concave spherical. That is, the lock shaft 42 has a convex spherical lock shaft engagement surface 42c that engages with the holding swing body end surface 20d.

[0032] The lock shaft 42 is inserted into the swing body insertion hole 21 such that the outer peripheral surface of the lock shaft 42 and the inner peripheral surface of the swing body 20c are spaced apart. Further, the lock shaft extension portion 42b is accommodated in the swing body insertion hole 21 such that the lock shaft engagement surface 42c and the end surface 20d of the swing body for holding face each other. That is, the swing body 20 is provided at a position where the swing body engagement surface 20b and the base engagement surface 301a face each other so as to be swingable with respect to the lock shaft 42.

[0033] The magnet holding member 43 is fixed to the first defining surface 301c. The axial direction of the magnet holding member 43 coincides with the axial direction of the device base 30. The magnet holding member 43 has a cylindrical shape. The magnet holding member 43 is located on the base end surface 30a side of the piston body 411 in the axial direction of the device base 30 and has a magnet holding member end surface 43b that faces the lock piston step surface 41d. Further, the magnet holding member 43 holds the magnet 44 in a groove formed on an end surface different from the magnet holding member end surface 43b in the axial direction of the device base 30.

[0034] The lock shaft 42 is inserted through the magnet holding member 43. Further, the inner peripheral surface of the magnet holding member 43 faces the outer peripheral surface of the lock shaft 42. A groove is formed on the inner peripheral surface of the magnet holding member 43, and a first seal 45 is provided in the groove. The first seal 45 seals between the magnet holding member 43 and the lock shaft 42.

[0035] The locking air chamber 48 is defined by the second defining surface 302c, the lock piston step surface 41d, the base step surface 30d, and the magnet holding member end surface 43b. Further, the locking port 35 on the outer surface 30e of the base communicates with the locking air chamber 48.

[0036] <Anti-rotation mechanism> As shown in FIG. 1, the anti-rotation mechanism 50 includes an anti-rotation member 51 and a first mounting pin P1 and a second mounting pin P2 as a plurality of mounting pins.

[0037] As shown in FIG. 3, the rotation prevention member 51 has a cylindrical rotation prevention main body 52 and a flange portion 53 extending from the rotation prevention main body 52. As shown in FIG. 2, the axial direction of the rotation prevention member 51 coincides with the axial direction of the device base 30. The rotation prevention main body 52 has a rotation prevention inner peripheral surface 52b that defines a rotation prevention insertion hole 52a and a rotation prevention outer peripheral surface 52c that is an outer peripheral surface. The inner diameter of the rotation prevention main body 52 is larger than the outer diameter of the swing body 20 on the outer peripheral surface 20e of the swing body. The swing body 20 is inserted into the rotation prevention insertion hole 52a so as to be swingable along the base engagement surface 301a. In other words, the rotation prevention member 51 surrounds the swing body 20 around the first axis L1.

[0038] As shown in FIG. 2, the first end portion in the axial direction of the rotation prevention member 51 faces the base end surface 30a, and the second end portion in the axial direction does not face another member. Further, the rotation prevention inner peripheral surface 52b of the rotation prevention member 51 faces the outer peripheral surface 20e of the swing body. Note that the rotation prevention inner peripheral surface 52b is separated from the outer peripheral surface 20e of the swing body.

[0039] As shown in FIGS. 2 and 3, the flange portion 53 extends from the end portion of the rotation prevention main body 52 in the axial direction that faces the base end surface 30a. The flange portion 53 is orthogonal to the first axis L1 and extends in a direction from the rotation prevention inner peripheral surface 52b toward the rotation prevention outer peripheral surface 52c. That is, the rotation prevention member 51 has a flange portion 53 that faces the base end surface 30a and extends in a direction orthogonal to the first axis L1. The flange portion 53 is provided so as to surround the rotation prevention main body 52 over the entire circumference.

[0040] The rotation prevention member 51 has a seal surface 51b as a surface that faces the base end surface 30a among the end surfaces in the axial direction of the device base 30. As will be described later, the seal surface 51b comes into contact with and separates from the base end surface 30a. Further, the rotation prevention member 51 has a rotation prevention lower surface 51a as an end surface different from the seal surface 51b in the axial direction of the device base 30.

[0041] As shown in FIG. 1, the rotation prevention member 51 is defined with a first concave portion 51c and a second concave portion 51d as two concave portions recessed from the rotation prevention lower surface 51a. The first concave portion 51c engages with the first protrusion 23a on the outer peripheral surface 20e of the swing body, and the second concave portion 51d engages with the second protrusion 23b on the outer peripheral surface 20e of the swing body. That is, each of the two concave portions that engages with each of the two protrusions is provided on the rotation prevention member 51. As described above, each of the first protrusion 23a and the second protrusion 23b has a circular cross section when viewed from the direction in which the second axis L2 extends. The swing body 20 is swingable along the base engagement surface 301a while bringing each of the first protrusion 23a and the second protrusion 23b into sliding contact with each of the first concave portion 51c and the second concave portion 51d.

[0042] Each of the first concave portion 51c and the second concave portion 51d opens at the rotation prevention inner peripheral surface 52b and the rotation prevention outer peripheral surface 52c. In other words, each of the first concave portion 51c and the second concave portion 51d defines a hole that penetrates the rotation prevention main body 52 in the second axis direction A2. As a result, each of the first protrusion 23a and the second protrusion 23b is reciprocable in the second axis direction A2 in each of the first concave portion 51c and the second concave portion 51d.

[0043] Let the direction in which the third axis L3 extending orthogonal to the first axis L1 and the second axis L2 extends be the third axis direction A3. As shown in FIG. 3, the flange portion 53 has a first mounting hole defining portion 53a and a second mounting hole defining portion 53b that extend longitudinally in the third axis direction A3. The first mounting hole defining portion 53a and the second mounting hole defining portion 53b are provided on opposite sides of each other with the rotation prevention main body 52 interposed therebetween in the third axis direction A3.

[0044] As shown in FIGS. 1 and 3, the first mounting hole defining portion 53a defines the first anti-rotation mounting hole H3, and the second mounting hole defining portion 53b defines the second anti-rotation mounting hole H4. The first anti-rotation mounting hole H3 penetrates the first mounting hole defining portion 53a in the first axial direction A1. The second anti-rotation mounting hole H4 penetrates the second mounting hole defining portion 53b in the first axial direction A1. That is, each of the first anti-rotation mounting hole H3 and the second anti-rotation mounting hole H4 as a plurality of first mounting holes is formed in the flange portion 53. Further, each of the first anti-rotation mounting hole H3 and the second anti-rotation mounting hole H4 extends longitudinally in the third axial direction A3 and penetrates in the first axial direction A1. As shown in FIG. 1, the first base mounting hole H1 and the first anti-rotation mounting hole H3 are arranged side by side in the first axial direction A1. Also, the second base mounting hole H2 and the second anti-rotation mounting hole H4 are arranged side by side in the first axial direction A1.

[0045] As shown in FIG. 1, the first mounting pin P1 is formed by the first pin flange portion P11 and the first pin insertion portion P12. The first pin insertion portion P12 has a columnar shape with a partially cut-out outer peripheral surface. The first pin flange portion P11 has a disk shape. The diameter of the first pin flange portion P11 is larger than the opening width in the short side direction of the first anti-rotation mounting hole H3. Also, the diameter of the first pin flange portion P11 is smaller than the opening width in the longitudinal direction of the first anti-rotation mounting hole H3. Note that the diameter of the first pin flange portion P11 may be larger than the opening width in the longitudinal direction of the first anti-rotation mounting hole H3.

[0046] The second mounting pin P2 is formed by the second pin flange portion P21 and the second pin insertion portion P22. The second pin insertion portion P22 has a columnar shape with a partially cut-out outer peripheral surface. The second pin flange portion P21 has a disk shape. The diameter of the second pin flange portion P21 is larger than the opening width in the short side direction of the second anti-rotation mounting hole H4. Also, the diameter of the second pin flange portion P21 is smaller than the opening width in the longitudinal direction of the second anti-rotation mounting hole H4. Note that the diameter of the second pin flange portion P21 may be larger than the opening width in the longitudinal direction of the second anti-rotation mounting hole H4.

[0047] The first mounting pin P1 is inserted from the first pin insertion portion P12 into the first anti-rotation mounting hole H3 and the first base mounting hole H1, and is fixed to the apparatus base 30. Further, the second mounting pin P2 is inserted from the second pin insertion portion P22 into the second anti-rotation mounting hole H4 and the second base mounting hole H2, and is fixed to the apparatus base 30. That is, each of the first mounting pin P1 and the second mounting pin P2 is fixed to two corners located in the diagonal direction of the base end face 30a among the four corners of the base end face 30a.

[0048] When the first mounting hole defining portion 53a is placed on the first pin flange portion P11 and the second mounting hole defining portion 53b is placed on the second pin flange portion P21, the anti-rotation member 51 is supported by the first mounting pin P1 and the second mounting pin P2. Therefore, the anti-rotation member 51 is supported by the apparatus base 30 by the first mounting pin P1 and the second mounting pin P2.

[0049] As shown in FIGS. 2, 5, and 6, the first mounting pin P1 is fixed to the apparatus base 30 such that the first pin flange portion P11 and the first mounting hole defining portion 53a can be separated from and contacted with each other. Further, the first mounting pin P1 is fixed to the apparatus base 30 such that the anti-rotation member 51 can reciprocate along the first pin insertion portion P12. The second mounting pin P2 is fixed to the apparatus base 30 such that the second pin flange portion P21 and the second mounting hole defining portion 53b can be separated from and contacted with each other. Further, the second mounting pin P2 is fixed to the apparatus base 30 such that the anti-rotation member 51 can reciprocate along the second pin insertion portion P22. That is, the anti-rotation member 51 is attached to the apparatus base 30 by the first mounting pin P1 and the second mounting pin P2 such that the seal surface 51b and the base end face 30a can be separated from and contacted with each other. Further, the anti-rotation member 51 can reciprocate along the first axis L1 with respect to the base end face 30a. In other words, the anti-rotation member 51 is attached to the apparatus base 30 so as to be reciprocable in the first axis direction A1 in which the first axis L1 extends.

[0050] Furthermore, as described above, each of the first anti-rotation mounting holes H3 and the second anti-rotation mounting holes H4 extends longitudinally in the third axial direction A3. Therefore, the anti-rotation member 51 is capable of reciprocating along the third axis L3 while being in sliding contact with the first mounting pin P1 and the second mounting pin P2.

[0051] As shown in FIGS. 2 and 3, the flange portion 53 has a groove defining portion 54. The groove defining portion 54 includes a first stepped portion 541 located at the outer peripheral edge of the flange portion 53 and a second stepped portion 542 located on the inner peripheral side of the first stepped portion 541. The first stepped portion 541 is provided over the entire outer peripheral edge of the flange portion 53. The second stepped portion 542 is cylindrical and continuous with the anti-rotation inner peripheral surface 52b. The first stepped portion 541 is spaced apart from the second stepped portion 542 in a direction perpendicular to the first axial direction A1. Also, the position of the end portion in the third axial direction A3 of the inner peripheral edge of the first stepped portion 541 is connected to the first mounting hole defining portion 53a and the second mounting hole defining portion 53b.

[0052] A groove portion 54a that opens toward the base end face 30a is defined in the anti-rotation member 51. The groove portion 54a is formed by a space surrounded by the first stepped portion 541, the second stepped portion 542, the first mounting hole defining portion 53a, and the second mounting hole defining portion 53b in the flange portion 53. Therefore, the first stepped portion 541, the second stepped portion 542, the first mounting hole defining portion 53a, and the second mounting hole defining portion 53b are the groove defining portion 54 that defines the groove portion 54a. In other words, the groove defining portion 54 is provided in the anti-rotation member 51 and defines the groove portion 54a that opens toward the base end face 30a.

[0053] In the first stepped portion 541 and the second stepped portion 542, the surface facing the base end surface 30a is the stepped portion upper surface 54d. Further, in the first mounting hole defining portion 53a and the second mounting hole defining portion 53b, the surface facing the base end surface 30a is the defining portion upper surface 53c. The stepped portion upper surface 54d of the first stepped portion 541 and the second stepped portion 542 and the defining portion upper surface 53c are located on the same plane and constitute a sealing surface 51b that comes into contact with and separates from the base end surface 30a on the opening side of the groove portion 54a. That is, the groove defining portion 54 includes a sealing surface 51b that comes into contact with and separates from the base end surface 30a on the opening side of the groove portion 54a.

[0054] The groove portion 54a is formed in the flange portion 53 so as to go around once around the first axis L1. At the position where the groove portion 54a connects to the first mounting hole defining portion 53a in the first stepped portion 541, the width of the groove portion 54a in the third axis direction A3 expands from the second stepped portion 542 toward the first stepped portion 541. Also, at the position where the groove portion 54a connects to the second mounting hole defining portion 53b in the first stepped portion 541, the width of the groove portion 54a in the third axis direction A3 expands from the second stepped portion 542 toward the first stepped portion 541. That is, the groove portion 54a has a groove expansion portion 54c that expands in a direction orthogonal to the first axis L1 at portions adjacent to each of the first anti-rotation mounting hole H3 and the second anti-rotation mounting hole H4.

[0055] As shown in FIGS. 1 to 4, when the sealing surface 51b of the anti-rotation member 51 contacts the base end surface 30a, the suction port 36 communicates with the groove portion 54a via the communication passage 37. The communication passage 37 is formed inside the apparatus base 30 and opens at an opening 38 formed in the base end surface 30a. As described above, the anti-rotation member 51 is reciprocally movable along the third axis L3. As a result of the reciprocating movement, the opening 38 is provided in the base end surface 30a so that the suction port 36 and the groove portion 54a can communicate even when the anti-rotation member 51 moves in the third axis direction A3. That is, the opening 38 is aligned with the groove expansion portion 54c in the first axis direction A1. In other words, the widened groove expansion portion 54c of the groove portion 54a and the opening 38 formed on the base end surface 30a side of the communication passage 37 are aligned in the first axis direction A1.

[0056] Referring to FIGS. 1 and 3, the sealing surface 51b will be described. When air is sucked from the suction port 36 through the opening 38 by a pressure supply source (not shown), the sealing surface 51b is a surface capable of blocking the exchange of air between the groove portion 54a and the outside of the stopper member 51. In other words, between the sealing surface 51b and the base end surface 30a, it is sealed by a metal touch seal between the sealing surface 51b and the base end surface 30a. The metal touch seal is realized, for example, by adjusting the surface roughness and the like between the sealing surface 51b and the base end surface 30a. That is, if the adjustment of the surface roughness and the like is possible, the metal touch seal can be realized regardless of the material of the sealing surface 51b.

[0057] <Operation of the Imitation Device Related to Parallel Adjustment> Using FIGS. 1 to 6, the imitation operation of the imitation device 100 will be described. First, as shown in FIGS. 5 and 6, the imitation operation when the reference surface S is inclined in the third axis direction A3 will be described.

[0058] As shown in FIG. 5, the imitation device 100 takes an initial position. The imitation device 100 is attached to, for example, a transfer device (not shown). The imitation device 100 is at a position where the pressure-bonding tool contact surface 10a faces the reference surface S and the pressure-bonding tool 10 is separated from the reference surface S. In the initial position, the first axis L1, which is the axis of the pressure-bonding tool 10 and the swing body 20, and the base axis LB of the device base 30 coincide. Further, the reference surface axis LS extending in the direction orthogonal to the reference surface S is not parallel to the first axis L1 and the base axis LB.

[0059] As shown in FIGS. 1, 2, and 5, in the initial position, a pressure supply source (not shown) sucks air from the locking air chamber 48 through the locking port 35, thereby making the supply pressure to the locking air chamber 48 negative. As a result of making the supply pressure negative, the locking piston 41 is at a position where a part of the locking piston cross-sectional surface 41d abuts on the base cross-sectional surface 30d in the axial direction of the device base 30. Further, the locking shaft extension portion 42b is at a position where the holding swing body end surface 20d and the locking shaft engagement surface 42c are separated from each other in the axial direction of the device base 30.

[0060] In the initial position, a pressure supply source (not shown) supplies air to the air shaft receiving port 33. The supplied air is supplied between the base engaging surface 301a and the swing body engaging surface 20b through the air shaft receiving air supply / discharge chamber 34 and a plurality of holes formed in the annular porous material 32. Therefore, the annular porous material 32 receives the supply of air from the air shaft receiving port 33. Due to the supply of the air, the gap between the swing body engaging surface 20b and the base engaging surface 301a is pressurized. As a result, the swing body engaging surface 20b is separated from the base engaging surface 301a. At the same time, the swing body 20 is attracted toward the base engaging surface 301a by the attracting magnetic force of the magnet 44 held by the magnet holding member 43. As a result, the swing body engaging surface 20b and the base engaging surface 301a form a slight gap and maintain the gap. Therefore, the apparatus base 30 supports the swing body 20 so as to be swingable while being separated from the base engaging surface 301a.

[0061] In the initial position, the suction port 36 is open to the atmosphere. That is, the anti-rotation member 51 is separated from the base end surface 30a and is supported by the first pin flange portion P11 and the second pin flange portion P21.

[0062] As shown in FIG. 6, in a state where the swing body 20 is swingable with respect to the base engaging surface 301a, the imitating device 100 approaches the reference surface S along the base axis LB and presses the crimping tool contact surface 10a against the reference surface S. By the pressing, the swing body 20 swings around the second axis L2. As a result of the swing, the crimping tool contact surface 10a follows the reference surface S and is adjusted in parallel. As a result of the parallel adjustment, the parallel postures of the crimping tool 10 and the swing body 20 with respect to the reference surface S are realized.

[0063] FIG. 7 shows a view of the following device 100 as seen in the axial direction of the device base 30, in the direction from the base end face 30a toward the top plate installation surface 30b. Axis LL2 in FIG. 7 indicates the position of the second axis L2 when the following device 100 is in the initial position. The rocking of the crimping tool 10 and the rocking body 20 in the third axis direction A3 guides the movement of the first protrusion 23a and the second protrusion 23b in the third axis direction A3 within a plane orthogonal to the first axis L1. Further, this rocking of the rocking body 20 guides the movement of the anti-rotation member 51 in the third axis direction A3 within a plane orthogonal to the first axis L1 via the first protrusion 23a and the second protrusion 23b. During this movement, the anti-rotation member 51 is restricted from rotating around the first axis L1 by each of the first mounting pin P1 and the second mounting pin P2. Furthermore, each of the first concave portion 51c and the second concave portion 51d provided in the anti-rotation member 51 engages with each of the first protrusion 23a and the second protrusion 23b provided in the rocking body 20. As a result, the rotation of the rocking body 20 is restricted. That is, the anti-rotation mechanism 50 restricts the rotation of the rocking body 20 around the first axis L1 orthogonal to the rocking body crimping surface 20a in the rocking body 20. Therefore, the following device 100 adjusts the crimping tool contact surface 10a to be parallel to the reference surface S by rocking the rocking body 20 while restricting the rotation of the rocking body 20 by the anti-rotation mechanism 50.

[0064] When the anti-rotation member 51 moves in the third axis direction A3 due to the rocking of the rocking body 20, the relative positional relationship between the opening 38 and the groove portion 54a changes from the state of the initial position. However, due to the groove expansion portion 54c of the groove portion 54a, the adsorption port 36 and the groove portion 54a still maintain communication via the opening 38 and the communication passage 37.

[0065] Next, with reference to FIG. 8, the following operation when the reference surface S is inclined in the second axis L2 direction will be described. Since the following device 100 in the initial position is as described above, hereinafter, the anti-rotation member 51 during the operation in which the following device 100 presses the crimping tool contact surface 10a against the reference surface S will be described.

[0066] FIG. 8 shows a view of the following device 100 as seen in the direction following the axial direction of the device base 30 from the base end face 30a toward the top plate installation surface 30b when the reference plane S is inclined in the second axial direction A2. The axis LL3 in FIG. 8 indicates the position of the third axis L3 when the following device 100 is in the initial position. As shown in FIG. 8, the rocking of the crimping tool 10 and the rocking body 20 in the second axial direction A2 guides the movement of the first protrusion 23a and the second protrusion 23b in the second axial direction A2 within a plane orthogonal to the first axis L1. Each of the first protrusion 23a and the second protrusion 23b is reciprocally movable in the second axial direction A2 in each of the first concave portion 51c and the second concave portion 51d. That is, the movement of each of the first protrusion 23a and the second protrusion 23b in the second axial direction A2 does not move the anti-rotation member 51 in the third axial direction A3.

[0067] A case where the inclination of the reference plane S is in a direction orthogonal to the first axis L1 and different from both the second axial direction A2 and the third axial direction A3 will be described. In this case, the rocking body 20 has an operation in which the rocking around the second axis L2 and the rocking around the third axis L3 are superimposed. That is, also in this case, the anti-rotation member 51 restricts the rotation of the rocking body 20 around the first axis L1.

[0068] Therefore, the anti-rotation mechanism 50 restricts the rotation of the rocking body 20 around the first axis L1 even when the inclination of the reference plane S is in a direction orthogonal to the first axis L1 and not in the second axial direction A2 and the third axial direction A3.

[0069] <Operation of the following device related to maintaining the parallel posture> With reference to FIGS. 1 to 3 and FIG. 6, the operation related to maintaining the parallel posture, which is performed after the following device 100 realizes the parallel postures of the crimping tool 10 and the rocking body 20, will be described.

[0070] After the contact surface 10a of the crimping tool becomes parallel to the reference surface S, a pressure supply source (not shown) stops supplying air to the air shaft receiving port 33 and sucks air from the air shaft receiving port 33. Thus, the annular porous material 32 receives the discharge of air from the air shaft receiving port 33. That is, the pressure supply source creates a negative pressure in the air shaft receiving air supply / discharge chamber 34 by performing vacuum suction through the air shaft receiving port 33. Due to this pressure reduction, the swing body engaging surface 20b of the swing body 20 contacts and is adsorbed to the base engaging surface 301a of the apparatus base 30 while maintaining a parallel posture with respect to the reference surface S of the crimping tool contact surface 10a. As a result of this pressure reduction, the mimicking apparatus 100 performs temporary locking to maintain a parallel posture with respect to the reference surface S of the crimping tool contact surface 10a. That is, the mimicking apparatus 100 fixes the inclined posture of the swing body 20 by performing vacuum suction through the air shaft receiving port 33.

[0071] In the mimicking apparatus 100, after temporary locking is performed, the pressure supply source sucks air from the suction port 36. The seal surface 51b seals between the rotation preventing member 51 and the apparatus base 30. As a result, the rotation preventing member 51 is vacuum adsorbed to the base end surface 30a. Thereby, the movement of the rotation preventing member 51 with respect to the apparatus base 30 is restricted.

[0072] After the temporary locking and the vacuum adsorption of the anti-rotation member 51 through the adsorption port 36 are performed, the pressure supply source switches the pressure of the air supplied to the locking port 35 from negative pressure to positive pressure. This supply leads to the pressurization of the locking air chamber 48 that communicates with the locking port 35. When the locking air chamber 48 is pressurized, the locking piston 41 and the locking shaft 42 move in the direction from the base end face 30a to the top plate installation face 30b as shown by the two-dot chain line in FIG. 2. By this movement, the locking shaft 42 presses the locking shaft engagement surface 42c against the holding swing body end face 20d. By this pressing, the locking shaft 42 and the swing body 20 are strongly engaged. As a result, the swing body 20 is pressed in the direction from the base end face 30a to the top plate installation face 30b. The swing body 20 is in contact with the base engagement surface 301a at the swing body engagement surface 20b by the temporary locking. That is, this pressurization generates a vertical resistance force against this pressing at the contact surface between the swing body engagement surface 20b and the base engagement surface 301a. This vertical resistance force leads to a static frictional force that prevents the swing body 20 from swinging with respect to the device base 30 at this contact surface. Thereby, the swinging of the swing body 20 and the crimping tool 10 with respect to the device base 30 is restricted. As a result of this pressurization, the imitation device 100 performs this main locking to maintain the parallel posture of the crimping tool contact surface 10a with respect to the reference plane S in addition to the temporary locking. Therefore, the imitation device 100 maintains the parallel postures of the crimping tool 10 and the swing body 20 with respect to the reference plane S by the temporary locking and the main locking.

[0073] After the imitation device 100 maintains the parallel postures of the crimping tool 10 and the swing body 20 by the temporary locking and the main locking, and performs the vacuum adsorption of the anti-rotation member 51 to the base end face 30a, the imitation device 100 moves by a transfer device (not shown) from the place where the imitation operation was performed.

[0074] [Operation of this Embodiment] The operation of this embodiment will be described. The copying device 100 presses the crimping tool contact surface 10a against the reference plane S, and swings the crimping tool 10 and the swing body 20 with respect to the base engaging surface 301a, thereby adjusting the parallelism between the crimping tool contact surface 10a and the reference plane S. The anti-rotation member 51 included in the anti-rotation mechanism 50 is attached to the device base 30 by the first mounting pin P1 and the second mounting pin P2, and restricts the rotation of the swing body 20 around the first axis L1 by engaging with the first protrusion 23a and the second protrusion 23b.

[0075] Furthermore, after the copying operation and the temporary locking, the copying device 100 sucks air from the groove portion 54a through the communication passage 37 by the suction port 36, thereby vacuum-sucking the anti-rotation member 51 to the base end surface 30a. By this vacuum suction, when the copying device 100 is moved by a conveying device (not shown) after the copying operation, the sliding contact between the anti-rotation member 51 and the device base 30 and the swing body 20 is suppressed. As a result, the generation of particles in the operation of the copying device 100 is reduced.

[0076] [Effects of the present embodiment] The effects of the present embodiment will be described. (1) After adjusting the parallelism between the crimping tool contact surface 10a and the reference plane S by the copying operation, the copying device 100 sucks the air in the groove portion 54a by the suction port 36, thereby vacuum-sucking the anti-rotation member 51 to the base end surface 30a. This vacuum suction prevents the anti-rotation member 51 from sliding in contact with the device base 30 and the swing body 20 when the copying device 100 operates after the copying operation. As a result, the particles generated in the operation of the copying device 100 can be reduced.

[0077] (2) The rotation prevention member 51 is attached to the base end face 30a side by side in the first axial direction A1 by each of the first attachment pin P1 and the second attachment pin P2. And the rotation prevention member 51, the first attachment pin P1, and the second attachment pin P2 are accommodated in the cross section of the apparatus base 30 as viewed from the direction in which the base axis LB extends. That is, the rotation prevention member 51 can be attached to the base end face 30a without adding a member related to attachment to the base outer surface 30e. As a result, the enlargement of the imitation apparatus 100 in the direction orthogonal to the base axis LB is suppressed. For this reason, the imitation apparatus 100 can be miniaturized.

[0078] (3) The groove portion 54a of the rotation prevention member 51 restricts the air exchange between the outside of the rotation prevention member 51 by the metal touch seal between the seal surface 51b and the base end face 30a. Since the seal surface 51b and the base end face 30a can be sealed by the metal touch seal, the seal between them can be achieved without providing a seal member between the seal surface 51b and the base end face 30a. As a result, the rotation prevention member 51 can be vacuum-sucked to the apparatus base 30 without using a seal member that can be a source of particles during the operation of the imitation apparatus 100.

[0079] (4) A groove enlargement portion 54c that expands in a direction orthogonal to the first axis L1 is formed in the groove portion 54a. Even during the imitation operation of the imitation apparatus 100, the groove enlargement portion 54c maintains the state in which the opening 38 and the groove portion 54a communicate with each other. As a result, even when the rotation prevention member 51 swings during the imitation operation, the imitation apparatus 100 can vacuum-suck the rotation prevention member 51 to the base end face 30a.

[0080] (5) The base end face 30a has a rectangular shape when viewed from the direction in which the base axis LB extends. Among the four corners of the base end face 30a, each of a pair of diagonally opposite corners has formed therein a first base mounting hole H1 and a second base mounting hole H2. That is, the base end face 30a is rectangular, and a rotation prevention member 51 is attached to each of two corners located on the diagonal line of the base end face 30a by a first mounting pin P1 and a second mounting pin P2. As a result, the rotation prevention member 51 is accommodated within the cross-section of the device base 30 when viewed from the direction in which the base axis LB extends. That is, it is possible to suppress an increase in the size of the imitation device 100 in the direction orthogonal to the base axis LB by the rotation prevention member 51. As a result, the imitation device 100 can be miniaturized.

[0081] [Modification example] Note that the above-described embodiment can be implemented with the following modifications. The above-described embodiment and the following modification examples can be implemented in combination with each other within a range where there is no technical contradiction.

[0082] ○ The rotation prevention member 51 may include three or more first mounting holes and three or more mounting pins. For example, the rotation prevention member 51 may include a portion that extends in a direction different from the third axial direction A3 in the flange portion 53 in the direction orthogonal to the first axis L1, and the third rotation prevention mounting hole may be defined by the portion.

[0083] ○ The base end face 30a of the device base 30 may be circular or hexagonal. And the mounting pins do not have to be fixed to two corners located in the diagonal direction of the base end face. ○ In the groove portion 54a, the groove enlargement portion 54c does not have to be aligned with the opening portion 38 in the first axial direction A1. Also, the groove portion 54a does not have to be widened at portions adjacent to each of the first rotation prevention mounting hole H3 and the second rotation prevention mounting hole H4.

[0084] ○ The seal surface 51b and the base end face 30a do not necessarily need to be sealed by a metal touch seal. In this case, a seal member may be provided on the rotation prevention member 51 or the device base 30 to seal between the seal surface 51b and the base end face 30a.

[0085] ○ The rotation prevention member 51 does not necessarily need to include a flange portion 53, a first rotation prevention mounting hole H3 and a second rotation prevention mounting hole H4, and a first mounting pin P1 and a second mounting pin P2. For example, in this case, the rotation prevention member 51 is attached to the device base 30 by a member attached to the outer surface 30e of the base.

[0086] ○ The base engagement surface 301a may be a convex spherical surface. In this case, the rolling element engagement surface 20b is a concave spherical surface and has the same radius of curvature as the base engagement surface 301a. ○ In the groove portion 54a, the groove enlargement portion 54c may be formed over the entire flange portion 53.

[0087] ○ The groove portion 54a does not necessarily need to be formed to go around once around the first axis L1 in the flange portion 53. For example, the groove portion 54a may have a portion where the first step portion 541 and the second step portion 542 are integrated in a part of the flange portion 53.

Description of Reference Numerals

[0088] 10... crimping tool, 10a... crimping tool contact surface, 10b... crimping tool swing surface, 20... swing body, 20a... swing body crimping surface, 20b... swing body engagement surface, 20e... swing body outer peripheral surface as the outer peripheral surface, 23a... first protrusion as two protrusions, 23b... second protrusion as two protrusions, 30... device base, 30a... base end surface, 301a... base engagement surface, 36... suction port, 38... opening, 50... anti-rotation mechanism, 51... anti-rotation member, 51b... seal surface, 51c... first concave portion as two concave portions, 51d... second concave portion as two concave portions, 53... flange portion, 54... groove defining portion, 54a... groove portion, 54c... groove enlargement portion, 57... communication path, 100... imitation device, A1... first axial direction, A2... second axial direction, A3... third axial direction, H3... first anti-rotation mounting hole as a plurality of mounting holes, H4... second anti-rotation mounting hole as a plurality of mounting holes, L1... first axis, L2... second axis, L3... third axis, P1... first mounting pin as a plurality of mounting pins, P2... second mounting pin as a plurality of mounting pins, S... reference surface.

Claims

1. An apparatus base having a base end face including a base engagement face that is either a concave spherical face or a convex spherical face; A swing body that is swingably attached to the apparatus base, has a swing body engagement face that engages with the base engagement face, and has a swing body pressing face, which is a face different from the swing body engagement face, as an end face; A pressing tool having a pressing tool swing face attached to the swing body pressing face and having a pressing tool contact face, which is an end face different from the pressing tool swing face; A rotation prevention mechanism that restricts rotation of the swing body about a first axis orthogonal to the swing body pressing face of the swing body; and The rotation prevention mechanism includes: A rotation prevention member that surrounds the swing body about the first axis and is attached to the apparatus base so as to be reciprocally movable in a first axis direction in which the first axis extends; Two protrusions provided on an outer peripheral face of the swing body and arranged in a second axis direction in which a second axis orthogonal to the first axis extends; Two concave portions provided on the rotation prevention member and each engaging with one of the two protrusions; and A profiling device that adjusts the pressing tool contact face to be parallel to a reference face by swinging the swing body while restricting rotation of the swing body by the rotation prevention mechanism; and The rotation prevention mechanism includes: A groove defining portion that is provided on the rotation prevention member, defines a groove portion that opens toward the base end face, and has a seal face that contacts and separates from the base end face on an opening side of the groove portion; A communication passage formed inside the apparatus base and communicable with the groove portion; and A suction port communicating with the communication passage, the profiling device being characterized by including these components.

2. The rotation prevention member includes: A flange portion that faces the base end face and extends in a direction orthogonal to the first axis; and A plurality of mounting holes formed in the flange portion, extending in a third axis direction in which a third axis orthogonal to the first axis and the second axis extends, and penetrating in the first axis direction; and The profiling device according to claim 1, wherein the rotation prevention member is supported by a plurality of mounting pins inserted through each of the mounting holes and fixed to the base end face.

3. The profiling device according to claim 1 or claim 2, wherein a space between the seal face and the base end face is sealed by a metal touch seal between the seal face and the base end face.

4. The groove portion has a groove widening portion that widens in a direction orthogonal to the first axis at a portion adjacent to each of the plurality of mounting holes, and the groove widening portion is aligned with an opening formed on the base end face side among the communication paths in the first axis direction. The imitation device according to claim 2, characterized in that.

5. The plurality of mounting holes are two, The plurality of mounting pins are two, The base end face is square when viewed from the direction in which the first axis extends, Each of the two mounting pins is fixed to two corners located in the diagonal direction of the base end face among the four corners of the base end face. The imitation device according to claim 2, characterized in that.

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