Suction nozzle
Patent Information
- Application Number
- PCT/JP2025/006186
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2025-02-24
- Publication Date
- 2026-08-27
Smart Images
Figure JP2025006186_27082026_PF_FP_ABST
Abstract
Description
Suction nozzle
[0001] The present disclosure relates to a suction nozzle that uses negative-pressure air to suck and hold a component and uses positive-pressure air to release the held component.
[0002] Conventionally, various suction nozzles for sucking components by negative pressure have been proposed. For example, Patent Document 1 below describes a suction nozzle that sucks and holds a component using negative-pressure air on a suction surface. A suction pad having a suction surface is provided at the lower end of the suction nozzle of Patent Document 1. This suction pad is formed of an elastically deformable material and elastically deforms when pressed against a component. The suction pad sucks the component by supplying negative-pressure air into the pad while it is pressed against the component and the inside is sealed.
[0003] Japanese Patent No. 6472812
[0004] By the way, when there are fine steps or irregularities on the surface of the component, flexibility is required for the member constituting the suction surface in order to deform following the shape. However, if the elastic modulus of the member constituting the suction surface is lowered to increase flexibility, the frictional force between the suction surface and the component cannot be ensured, and there is a risk that the weight of the component that can be transported will be reduced.
[0005] The present disclosure has been made in view of the above problems, and an object thereof is to provide a suction nozzle that can deform following the shape of a component to suck it while ensuring the frictional force between the component and the suction surface.
[0006] To solve the above problems, this specification includes a negative-pressure flow path to which negative pressure is supplied, a suction surface that surrounds the opening of the negative-pressure flow path and sucks a component by the negative pressure supplied to the negative-pressure flow path, a nozzle body having the suction surface, an elastic member that is attached to the nozzle body, has a cylindrical shape surrounding the outer peripheral edge of the suction surface, and elastically deforms when contacting the component during suction of the component, and a contact member that is attached to the suction surface and is disposed between the component and the suction surface during suction of the component. A suction nozzle is disclosed in which the coefficient of friction of the portion of the contact member that contacts the component is larger than the coefficient of friction of the suction surface. [[ID=二十]]
[0007] The suction nozzle described herein can deform to conform to the shape of the part while adsorbing it, and at the same time, it can ensure frictional force between the part and the suction surface.
[0008] Perspective view of the component mounting device. Perspective view of the work head portion of the component mounting device. Perspective view of the suction nozzle. Cross-sectional view of the suction nozzle. Cross-sectional perspective view of the nozzle tip of the suction nozzle. Diagram showing the suction operation of a component using the suction nozzle.
[0009] (Regarding the component mounting device 10) Hereinafter, an embodiment of the suction nozzle of the present disclosure will be described in detail with reference to the figures. Figure 1 is a perspective view of the component mounting device 10 of this embodiment. The component mounting device 10 is a device for performing the work of mounting components (such as electronic components) onto a circuit board 12. The component mounting device 10 comprises a device body 20, a substrate transport and holding device 22, a head drive mechanism 24, a mark camera 26, a parts camera 28, a loose parts supply device 30, and a parts supply device 32. Examples of the circuit board 12 include printed wiring boards and printed circuit boards.
[0010] The main body of the device 20 comprises a frame 40 and a beam 42 mounted on the frame 40. The substrate transport and holding device 22 is positioned in the center of the frame 40 in the front-rear direction and comprises a transport device 50 and a clamping device 52. The transport device 50 is a device for transporting the circuit substrate 12, and the clamping device 52 is a device for holding the circuit substrate 12. Thus, the substrate transport and holding device 22 transports the circuit substrate 12 and also holds the circuit substrate 12 fixedly at a predetermined working position. In the following description, the transport direction of the circuit substrate 12 is referred to as the X direction, the horizontal direction perpendicular to that direction is referred to as the Y direction, and the vertical direction is referred to as the Z direction. In other words, the width direction of the component mounting device 10 is the X direction, and the front-rear direction is the Y direction.
[0011] The head drive mechanism 24 is mounted on the beam 42 and has two work heads 60 and 62 and a work head moving device 64. As shown in Figure 2, a suction nozzle 66 is detachably provided on the lower end surface of each work head 60 and 62. The suction nozzle 66 is connected to a positive / negative pressure supply device (not shown) provided on the part mounting device 10 via an air passage. The suction nozzle 66 attracts parts when negative pressure air is supplied from the positive / negative pressure supply device. The suction nozzle 66 releases the attracted part when the inside of the suction nozzle 66 is opened to atmospheric pressure or when positive pressure air is supplied from the positive / negative pressure supply device. The positive / negative pressure supply device may be a device that supplies a type of gas other than air. The work head moving device 64 has an X-direction moving device 68, a Y-direction moving device 70, and a Z-direction moving device 72. Then, the two work heads 60 and 62 are moved integrally to any position on the frame 40 by the X-direction moving device 68 and the Y-direction moving device 70. In addition, each work head 60 and 62 is detachably mounted on sliders 74 and 76, and the Z-direction moving device 72 moves the sliders 74 and 76 individually in the vertical direction. In other words, the work heads 60 and 62 are moved individually in the vertical direction by the Z-direction moving device 72.
[0012] Furthermore, the mark camera 26 is mounted on the slider 74 with its orientation facing downwards and moves in the X and Y directions together with the work head 60. This allows the mark camera 26 to capture images of any position on the frame 40. The parts camera 28, as shown in Figure 1, is positioned with its orientation facing upwards between the substrate transport and holding device 22 and the parts supply device 32 on the frame 40. This allows the parts camera 28 to capture images of parts that have been picked up by the suction nozzles 66 of the work heads 60 and 62.
[0013] The loose parts supply device 30 is located at one end of the frame 40 in the front-rear direction. The loose parts supply device 30 is a device that aligns multiple parts that are scattered loosely and supplies the parts in an aligned state. In other words, it is a device that aligns multiple parts in any orientation to a predetermined orientation and supplies the parts in that predetermined orientation.
[0014] The parts supply device 32 is located at the other end of the frame 40 in the front-rear direction. The parts supply device 32 includes a tray-type parts supply device 78 and a feeder-type parts supply device 80. The tray-type parts supply device 78 is a device that supplies parts while they are placed on a tray (not shown).
[0015] Furthermore, the feeder-type component supply device 80 is a device that supplies components by tape feeder 82. The tape feeder 82 is detachably mounted on tape feeder holder 86 and supplies components from tape-formed components. Tape-formed components are components that have been formed into tape. The components supplied by the loose component supply device 30 and the component supply device 32 are, for example, electronic components such as IC chips, axial lead components, and radial lead components. Note that the components may also be other components that can be mounted on the circuit board 12, such as connectors and switches.
[0016] (Operation of the component mounting device 10) The component mounting device 10 performs the operation of mounting components onto the circuit board 12 held by the base material transport and holding device 22, according to the configuration described above. Specifically, the circuit board 12 is transported to the work position and fixedly held there by the clamping device 52. Next, the mark camera 26 moves above the circuit board 12 and images the circuit board 12. This provides information regarding the error in the holding position of the circuit board 12. The loose component supply device 30 or the component supply device 32 supplies components at a predetermined supply position. Then, either the work head 60 or 62 moves above the component supply position and uses negative pressure by the suction nozzle 66 to pick up the component. Subsequently, the work head 60 or 62 that has picked up the component moves above the parts camera 28, and the parts camera 28 images the component picked up by the suction nozzle 66. This provides information regarding the error in the holding position of the component. Next, the work heads 60 and 62 that have picked up the component move above the circuit board 12 to correct any errors in the holding position of the circuit board 12, the holding position of the component, etc. Then, the suction nozzle 66 uses positive pressure to release the component, thereby attaching the component to the circuit board 12.
[0017] (Configuration of the suction nozzle 66) As described above, the component mounting device 10 performs the mounting operation by supplying negative pressure to the suction nozzle 66 to adsorb and hold the component, and supplying positive pressure to the suction nozzle 66 to release the component. On the other hand, among the components to be mounted on the circuit board 12, there are components whose surface to be adsorbed by the suction nozzle 66 (hereinafter referred to as the adsorbed surface) is not flat. For example, there are components where the step of the film covering the component body is on the adsorbed surface, and components where the markings indicating the component type are on the adsorbed surface. With such components whose adsorbed surface is not flat, a gap may be formed between the suction nozzle and the adsorbed surface during adsorption, and there is a risk of adsorption failure due to negative pressure air leaking from the gap. Furthermore, not only when the adsorbed surface is flat, but also when the component is tilted, a gap may be formed and there is a risk of negative pressure air leaking. Therefore, the suction nozzle 66 of this embodiment is provided with an elastic member in the part that adsorbs the part, and the tip of the nozzle is configured to be elastically deformable. The elastic member is elastically deformed to follow the shape of the surface to be adsorbed and the inclination of the part, thereby suppressing the occurrence of negative pressure air leakage.
[0018] More specifically, Figure 3 shows a perspective view of the suction nozzle 66. Figure 4 shows a cross-sectional view of the suction nozzle 66. Figure 5 shows a cross-sectional view of the nozzle tip 92 of the suction nozzle 66. In the following explanation, the vertical direction in Figures 3 to 5 will be described as the vertical direction of the suction nozzle 66. Also, the lower part of the suction nozzle 66 will be referred to as the tip, and the upper part as the base.
[0019] As shown in Figures 3 to 5, the suction nozzle 66 has an adapter 91 and a nozzle tip 92. The adapter 91 has an adapter body 94, a flange 96, an extendable portion 98, and a coil spring 99. The adapter body 94 is generally cylindrical in shape, and a through hole 101 is formed in the adapter body 94 that penetrates in the vertical direction. An engaging portion 101A is formed approximately in the center of the through hole 101 in the vertical direction. The engaging portion 101A has an annular shape that protrudes inward from the inner wall of the through hole 101. The inner diameter of the through hole 101 is smaller in the portion where the engaging portion 101A is formed.
[0020] The flange portion 96 is fixed to the upper end surface of the adapter body portion 94 and is plate-shaped, extending radially from the adapter body portion 94. The flange portion 96 engages with the mounting portion (not shown) for attaching the suction nozzle 66 of the work heads 60 and 62, and is detachably attached to the work heads 60 and 62. A through hole 103 is formed in the center of the flange portion 96, communicating with the through hole 101 of the adapter body portion 94. The telescopic portion 98 is generally cylindrical, and a through hole 104 is formed in the telescopic portion 98, penetrating in the vertical direction. The outer diameter of the telescopic portion 98 is slightly smaller than the inner diameter of the engaging portion 101A of the through hole 101, and the telescopic portion 98 is inserted into the through hole 101 and the engaging portion 101A. The upper end of the telescopic portion 98 protrudes upward from the hole in the engaging portion 101A, and the lower end of the telescopic portion 98 extends from the lower end of the adapter body portion 94. As a result, the adapter body 94 and the telescopic portion 98 move relative to each other in the vertical direction, changing the amount of extension of the telescopic portion 98 from the lower end of the adapter body 94, and causing the adapter 91 to extend or retract. In addition, a radially projecting projection 98A is formed at the upper end of the telescopic portion 98. As a result, when the telescopic portion 98 moves downward, the projection 98A engages with the upper surface of the engaging portion 101A of the through hole 101, preventing the telescopic portion 98 from falling out of the through hole 101.
[0021] Furthermore, the nozzle tip portion 92 includes a nozzle body 111, a support member 112, an elastic member 113, and a contact member 115. The nozzle body 111 is a metal component and has an air passage 121 and an adsorption surface 123. The nozzle body 111 generally has a cylindrical shape that extends in the vertical direction. The upper part of the nozzle body 111 has a larger diameter than the lower part.
[0022] The air passage 121 has a main passage portion 121A and a large-diameter portion 121B. The main passage portion 121A has a cylindrical shape that extends in the vertical direction. The opening at the upper end of the main passage portion 121A is connected to the opening at the lower end of the through hole 104. The large-diameter portion 121B is formed continuously with the opening at the lower end of the main passage portion 121A. The large-diameter portion 121B has a cylindrical shape with a larger inner diameter than the main passage portion 121A.
[0023] A recess 111A is formed in the upper part of the nozzle body 111. The recess 111A has a bottomed cylindrical shape and is formed with an inner diameter larger than the flow path body 121A and the large diameter portion 121B. The upper surface of the recess 111A is open. The opening of the flow path body 121A is formed in the lower surface, which is the bottom surface of the recess 111A. The opening of the flow path body 121A is formed in the center of the bottom surface of the recess 111A. The support member 112 is fitted into the recess 111A from above and fixes the nozzle tip portion 92 to the telescopic portion 98.
[0024] The support member 112 has a through hole 112A that penetrates vertically. The lower end of the telescopic portion 98 is fitted into the through hole 112A of the support member 112. As a result, the nozzle tip 92 is fixed to the telescopic portion 98 via the support member 112. Therefore, the nozzle tip 92 moves vertically together with the telescopic portion 98.
[0025] The coil spring 99 is inserted into the lower portion of the adapter body 94 and is positioned to cover the outer circumferential surface of the adapter body 94. The upper end of the coil spring 99 engages with the stepped portion 94A of the adapter body 94. The lower end of the coil spring 99 engages with the upper surface 111D of the nozzle body 111. As a result, the coil spring 99 contracts as the nozzle tip 92 moves upward, providing an elastic force that biases the nozzle tip 92 downward.
[0026] The support member 112 fixes the relative position of the telescopic portion 98 and the nozzle body 111 by ensuring that the opening at the lower end of the through hole 104 is in close contact with and in communication with the opening at the upper end of the flow path body portion 121A. As a result, negative pressure air, etc., is supplied to the air flow path 121 from the positive and negative pressure supply device through the through holes 101 and 104.
[0027] As described above, the inner diameter of the large-diameter portion 121B is larger than the inner diameter of the flow path body portion 121A, and the air flow path 121 widens at the lower end where the large-diameter portion 121B is formed. An adsorption surface 123 for adsorbing parts is formed on the lower surface of the nozzle body 111, that is, on the surface where the opening 121C of the large-diameter portion 121B is formed. The adsorption surface 123 is an annular plane surrounding the lower opening 121C of the large-diameter portion 121B, that is, the lower opening 121C of the air flow path 121. The adsorption surface 123 functions as a surface that adsorbs parts with negative-pressure air supplied to the air flow path 121.
[0028] An outer peripheral recess 111B is formed at the lower end of the nozzle body 111. The outer peripheral recess 111B is formed on the outer peripheral surface of the lower end of the nozzle body 111. The outer peripheral recess 111B is formed in an annular shape along the outer peripheral surface of the cylindrical nozzle body 111, and is formed as a recess from the radially outer side to the inner side of the nozzle body 111. Therefore, a cylindrical groove is formed on the outer peripheral surface of the lower end of the nozzle body 111. The lower end of the outer peripheral recess 111B is at the position of the tip of the nozzle body 111, that is, the position of the suction surface 123. A stepped portion 111C is formed at the upper end of the outer peripheral recess 111B, which is cut out along the radial direction of the nozzle body 111.
[0029] The elastic member 113 is, for example, a sponge. A closed-cell sponge is preferred for the elastic member 113 in order to seal it and prevent negative pressure air from leaking. However, the elastic member 113 is not limited to a closed-cell sponge; an open-cell sponge is also acceptable. Furthermore, the elastic member 113 is not limited to a sponge; other elastic materials such as rubber are also acceptable. Alternatively, for example, the elastic member 113 may be a material with fluidity filled into a bag. The inner diameter of the elastic member 113 is approximately the same as the outer diameter of the outer peripheral recess 111B. With the outer peripheral recess 111B inserted, the elastic member 113 is attached, for example, with its upper surface to the stepped portion 111C of the outer peripheral recess 111B. The elastic member 113 is attached to the stepped portion 111C with double-sided tape and is replaceable. The elastic member 113 may also be attached to the stepped portion 111C by other methods such as adhesive.
[0030] Furthermore, the lower end of the elastic member 113 protrudes downward from the suction surface 123. The elastic member 113 protrudes downward from the suction surface 123 by a length W1 (see Figure 5). The elastic member 113 has a cylindrical shape that surrounds the outer edge of the suction surface 123 and elastically deforms when it comes into contact with the part during suction. The elastic member 113 contracts when it comes into contact with the part and returns to its original position when the part is released from the suction nozzle 66. Therefore, the elastic member 113 is elastic and flexible, and can deform to conform to the unevenness of the surface of the part to be suctioned (such as the top surface) or an inclined surface to be suctioned, and can form a sealed space between itself and the surface to be suctioned.
[0031] Furthermore, by contracting the elastic member 113 when a part is attracted, and bringing the surface to be attracted into contact with the flat surface of the suction surface 123, the tilt of the part can be corrected and the orientation of the part can be stabilized. However, if the metal suction surface 123 is brought into direct contact with the surface to be attracted of the part, the frictional force becomes insufficient, resulting in a problem in that the weight of the part that can be transported is reduced. Specifically, the weight of the part that can be transported is determined by the suction force due to negative pressure and the frictional force between the suction surface 123 and the surface to be attracted that is generated by that suction force.
[0032] However, because the elastic member 113 is compressed by negative pressure and the surface to be adsorbed is held in contact with the suction surface 123, the frictional force between the suction surface 123 and the surface to be adsorbed is weakened by the reaction force of the elastic member 113, or in other words, by the restoring force due to contraction. For this reason, with the frictional force between the metal suction surface 123 and the surface to be adsorbed, there is a risk that heavy parts may be displaced or fall off when adsorbed. Therefore, in this embodiment, the suction nozzle 66 is provided with a contact member 115 with a high coefficient of friction on the suction surface 123.
[0033] For example, the contact member 115 can be made of Piolan® tape from Diatex Co., Ltd. The contact member 115 is attached to the suction surface 123 with double-sided tape and is detachable. This allows the elastic member 113 and the contact member 115 to be easily replaced with new ones when they wear out or deteriorate from repeated suction operations.
[0034] Furthermore, the thickness W2 of the contact member 115 in the vertical direction (see Figure 5) is thinner than the length W1 to which the elastic member 113 protrudes from the suction surface 123. The thickness W2 is, for example, a few tenths of a millimeter. Therefore, the elastic member 113 protrudes from the tip (suction surface 123) of the nozzle body 111, and a cylindrical recess is formed on the inside of the elastic member 113. The contact member 115 is positioned at the bottom of the recess. In addition, the suction surface 123 holds the part in place by sandwiching the thin contact member 115 between them when the part is being held.
[0035] Furthermore, the contact member 115 is not limited to Piolan® tape; other materials with a high coefficient of friction, such as silicone, can also be used. Preferably, the contact member 115 is made of a material with high insulating properties and greater hardness than the elastic member 113. The contact member 115 may also be attached to the adsorption surface 123 by other methods, such as adhesive.
[0036] The contact member 115 is a thin, tape-like member that is provided around the entire circumference of the annular-shaped suction surface 123 and is attached to the entire surface of the suction surface 123. The coefficient of friction of the portion of the contact member 115 that contacts the surface of the part to be suctioned, i.e., the coefficient of friction of the lower surface, is greater than the coefficient of friction of the suction surface 123. The contact member 115 is positioned between the surface of the part to be suctioned and the suction surface 123 when the part is being suctioned. This increases the frictional force between the suction surface 123 and the part, thereby increasing the weight of the parts that can be transported.
[0037] Furthermore, for example, the coefficient of friction of the lower surface of the contact member 115 is greater than the coefficient of friction of the portion of the elastic member 113 that contacts the surface of the component to be adsorbed. Also, the coefficient of friction of the portion of the elastic member 113 that contacts the surface of the component to be adsorbed is greater than the coefficient of friction of the adsorption surface 123. Therefore, the magnitude of the coefficient of friction increases in the order of adsorption surface 123, elastic member 113, and contact member 115. Note that the coefficient of friction of the contact member 115 may be less than or equal to the coefficient of friction of the elastic member 113. Also, the coefficient of friction of the elastic member 113 may be less than or equal to the coefficient of friction of the adsorption surface 123.
[0038] Furthermore, the friction coefficient of the entire contact member 115, rather than just the friction coefficient of the portion of the contact member 115 that contacts the surface of the component to be adsorbed, may be made greater than the friction coefficient of the adsorption surface 123. Alternatively, the surface of the contact member 115 that contacts the surface to be adsorbed may be processed to increase the friction coefficient, such as by creating fine irregularities. Also, the contact member 115 does not need to be provided around the entire circumference of the adsorption surface 123. For example, the contact member 115 may be provided only around half the circumference of the adsorption surface 123, or at 45-degree or 90-degree intervals. In this case, the height of the surface of the contact member 115 that contacts the surface to be adsorbed may be the same as the height of the surface of the adsorption surface 123 in the portion where the contact member 115 is not provided, i.e., the portion where the contact member 115 is not attached. Specifically, for example, recesses may be provided around the circumferential direction of the adsorption surface 123 from 0 to 90 degrees and from 180 to 270 degrees, and the contact member 115 may be attached within these recesses. Furthermore, the surface height of the contact member 115 and the surface height of the adsorption surface 123, which ranges from 90 degrees to 180 degrees and from 270 degrees to 360 degrees, may be made the same.
[0039] (Suction Operation) Next, the suction operation using the suction nozzle 66 will be described. Figure 6 shows the suction operation of the part 131 using the suction nozzle 66. As shown in Figure 6, first, in step 1 (hereinafter simply referred to as S), the part mounting device 10 controls the X-direction moving device 68 and the Y-direction moving device 70 to move the work heads 60 and 62, and moves the suction nozzle 66 to the supply position of the loose part supply device 30 or the part supply device 32. The part mounting device 10 moves the suction nozzle 66 above the part 131 at the supply position.
[0040] Next, the component mounting device 10 controls the Z-direction moving device 72 to lower the suction nozzle 66 (S2). When picking up the component 131, the elastic member 113 of the suction nozzle 66 contacts the component 131 before the contact member 115 and undergoes elastic deformation (S3). The elastic member 113 deforms to conform to the shape and inclination of the surface 132 of the component 131 to be picked up. By pressing the highly flexible elastic member 113 against the surface 132 to be picked up, the state in which the elastic member 113 is in close contact with the surface 132 can be maintained. The opening of the elastic member 113 is closed by the surface 132 to be picked up, and a sealed space is formed inside the elastic member 113.
[0041] The contact member 115 comes into contact with the adsorption surface 132 (upper surface in Figure 6) of the part 131 after the elastic member 113 has contracted (S3). In other words, the length W1 of the elastic member 113 is such that it contracts to the extent that the adsorption surface 132 comes into contact with the contact member 115 when it comes into contact with the part 131. Furthermore, when a reaction force is applied from the part 131 to the nozzle body 111 as the suction nozzle 66 descends, the coil spring 99 (see Figure 4) contracts in accordance with the force applied from the adsorption surface 132 to the nozzle body 111. This allows the coil spring 99 to absorb unnecessary force, preventing damage to the part 131 from the nozzle tip 92.
[0042] Furthermore, the component mounting device 10 controls the positive and negative pressure supply device to supply negative pressure to the air passage 121. The timing of supplying negative pressure may be, for example, when the nozzle tip 92 reaches its lowered end, or when the nozzle tip 92 begins to descend. The component 131 is in a state where it is attached to the nozzle body 111 with its surface to be attached 132 in close contact with the contact member 115. The contact member 115 is sandwiched between the surface to be attached 132 and the suction surface 123. As described above, the contact member 115 is a thin, tape-like member. Therefore, if the component 131 is tilted, the component 131 will come into contact with the metal suction surface 123 via the contact member 115, correcting it to a horizontal position and allowing it to be attached in a stable position.
[0043] In this state, if the suction nozzle 66 moves, the part 131 is held not only by the suction force on the surface to be adsorbed 132 due to the negative pressure, but also by the frictional force generated between the surface to be adsorbed 132 and the contact member 115. Even if a reaction force is generated by the contracted elastic member 113, a member with a high coefficient of friction is used as the contact member 115, so a heavier part 131 can be held.
[0044] Further, as described above, the opening 121C of the air flow path 121 has an annular shape. The contact member 115 surrounds the opening 121C of the air flow path 121 and is provided over the entire circumference of the adsorption surface 123. According to this, the frictional force can be increased over the entire adsorption surface 123, and a heavier part 131 can be held.
[0045] Further, the elastic member 113 protrudes from the tip of the nozzle body 111 and contacts the part 131 and elastically deform before the contact member 115 when adsorbing the part 131. After the elastic member 113 elastically deform, the contact member 115 contacts the part 131 and holds the adsorbed part 131. According to this, the elastic member 113 can be brought into contact with the part 131 first to form a sealed space, and then the contact member 115 can be brought into contact with the part 131. Incidentally, the adsorption nozzle 66 may be configured to first apply the contact member 115 to the part 131 and then press the elastic member 113 against the part 131 later.
[0046] Further, the thickness W2 of the contact member 115 is thinner than the length W1 that the elastic member 113 protrudes from the adsorption surface 123 of the nozzle body 111 (see FIG. 5). According to this, while making the contact member 115 thin and utilizing the hardness of the adsorption surface 123, the frictional force can be ensured. By making the contact member 115 thin, the adsorption surface 123 can be pressed against the adsorbed surface 13 through the contact member 115. The part 131 can be stably held.
[0047] Incidentally, hereinafter, the correspondence between the terms of the present embodiment and the terms described in the claims will be described. The air flow path 121 of the present embodiment is an example of a negative pressure flow path.
[0048] As described above, according to the present embodiment, the following effects can be obtained. The nozzle body 111 of the suction nozzle 66 according to one aspect of the present embodiment has an air flow path 121 to which negative pressure is supplied, and a suction surface 123 that surrounds the opening 121C of the air flow path 121 and sucks the component 131 by the negative pressure supplied to the air flow path 121. The elastic member 113 is attached to the nozzle body 111, has a cylindrical shape surrounding the outer peripheral edge of the suction surface 123, and elastically deforms when contacting the component 131 during suction of the component 131 (see FIG. 6). The contact member 115 is attached to the suction surface 123 and is disposed between the component 131 and the suction surface 123 during suction of the component 131. And the friction coefficient of the portion of the contact member 115 that contacts the component 131 is larger than the friction coefficient of the suction surface 123.
[0049] According to this, when sucking the component 131, by bringing the elastic member 113 into contact with the component 131 and elastically deforming it, the elastic member 113 can be deformed following the shape of the component 131. The adhesion between the suction nozzle 66 and the component 131 can be enhanced, and the component 131 can be held more stably during suction. Also, by providing the contact member 115 having a large friction coefficient on the suction surface 123 for sucking the component 131, the frictional force between the suction nozzle 66 and the component 131 can be increased. Therefore, while deforming and sucking following the shape of the component 131, the frictional force between the component 131 and the suction surface 123 can be ensured, and it becomes possible to convey a component 131 with a heavier weight.
[0050] Note that the present disclosure is not limited to the above embodiment, and can be implemented in various forms with various changes and improvements based on the knowledge of those skilled in the art. For example, the shape, number, etc. of each member of the nozzle tip portion 92 in the above embodiment are merely examples. For example, the outer peripheral concave portion 111B and the elastic member 113 are not limited to a cylindrical shape, and may be an elliptical cylindrical shape or a polygonal cylindrical shape such as a quadrilateral or a pentagon.
[0051] Furthermore, the contents of this disclosure are not limited to the dependencies described in the claims. For example, this specification also discloses a technical concept in which "the adsorption nozzle described in claim 1" is changed to "the adsorption nozzle described in claim 1 or claim 2" in claim 3. Also, this specification also discloses a technical concept in which "the adsorption nozzle described in claim 1" is changed to "the adsorption nozzle described in any one of claims 1 to 3" in claim 4.
[0052] 66 Suction nozzle, 111 Nozzle body, 113 Elastic member, 115 Contact member, 121 Air passage (negative pressure passage), 121C Opening, 123 Suction surface, 131 Part, W1 Length, W2 Thickness.
Claims
1. A suction nozzle comprising: a nozzle body having a negative pressure channel to which negative pressure is supplied; an suction surface surrounding the opening of the negative pressure channel and adsorbing a part by the negative pressure supplied to the negative pressure channel; an elastic member attached to the nozzle body, having a cylindrical shape surrounding the outer edge of the suction surface, and elastically deforming when in contact with the part when the part is adsorbed; and a contact member attached to the suction surface and positioned between the part and the suction surface when the part is adsorbed, wherein the coefficient of friction of the portion of the contact member that contacts the part is greater than the coefficient of friction of the suction surface.
2. The suction nozzle according to claim 1, wherein the opening of the negative pressure channel is annular in shape, and the contact member surrounds the opening of the negative pressure channel and is provided around the entire circumference of the suction surface.
3. The suction nozzle according to claim 1, wherein the nozzle body is a metal component, and the contact member is a tape-shaped component that is detachably attached to the suction surface.
4. The suction nozzle according to claim 1, wherein the elastic member protrudes from the tip of the nozzle body and, when adsorbing the part, contacts the part and elastically deforms before the contact member, and the contact member contacts the part and holds the adsorbed part after the elastic member has elastically deformed.
5. The suction nozzle according to claim 4, wherein the thickness of the contact member is thinner than the length to which the elastic member protrudes from the suction surface of the nozzle body.