CN113330545A - Automatic exchange device of workstation module and conversion external member - Google Patents

Automatic exchange device of workstation module and conversion external member Download PDF

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Publication number
CN113330545A
CN113330545A CN202080010565.1A CN202080010565A CN113330545A CN 113330545 A CN113330545 A CN 113330545A CN 202080010565 A CN202080010565 A CN 202080010565A CN 113330545 A CN113330545 A CN 113330545A
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CN
China
Prior art keywords
negative pressure
conversion
plate structure
module
conversion kit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202080010565.1A
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Chinese (zh)
Inventor
韩福愚
赵润基
高相男
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GENESEM Inc
SK Hynix Inc
Original Assignee
GENESEM Inc
SK Hynix Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020190022387A external-priority patent/KR102057331B1/en
Priority claimed from KR1020190022654A external-priority patent/KR102095728B1/en
Priority claimed from KR1020190111576A external-priority patent/KR102137996B1/en
Priority claimed from KR1020190111578A external-priority patent/KR102167500B1/en
Priority claimed from KR1020190111581A external-priority patent/KR102138003B1/en
Application filed by GENESEM Inc, SK Hynix Inc filed Critical GENESEM Inc
Publication of CN113330545A publication Critical patent/CN113330545A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/683—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Power Engineering (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)

Abstract

The invention discloses a workbench module, which comprises: a conversion kit having a plurality of vacuum holes formed in a Z-axis direction; and negative pressure transmission plate structure for the workstation disposes on the another side towards Z axle direction the conversion external member, intercommunication negative pressure generator with the vacuum hole, negative pressure transmission plate structure for the workstation can vacuum adsorption the conversion external member, works as negative pressure transmission plate structure vacuum adsorption for the workstation during the conversion external member, the conversion external member is fixed on the negative pressure transmission plate structure for the workstation, works as negative pressure transmission plate structure for the workstation removes right during the vacuum adsorption of conversion external member, can follow negative pressure transmission plate structure for the workstation is got rid of the conversion external member.

Description

Automatic exchange device of workstation module and conversion external member
Technical Field
The invention relates to a workbench module and an automatic replacing device of a conversion kit.
Background
The package manufacturing system may sequentially perform the following processes, etc. to manufacture the semiconductor package, the processes including: a cutting process of cutting a strip formed of a plurality of packages into individual packages; a washing process of washing the package cut on the cutting process; a drying process of drying the washed package on the washing process; a package inspection process of inspecting whether there is a defect in the dried package; and an unloading process for classifying the unqualified packages and the unqualified packages according to the inspection result.
Such a package manufacturing system generally includes a table module for placing a tape or a package, wherein the size of the package may be different according to the characteristics of a manufacturer or a product, and thus an upper plate of the table needs to be replaced according to the individual size of the package. Conventionally, when the size of the package is changed, a worker needs to manually replace the upper plate of the table module on which the package is placed. Therefore, the replacement speed and the replacement time are required to be longer according to the proficiency of the worker, and there are problems that the work yield is reduced or the completion degree of the replacement work is not reliable.
The background art of the present invention is disclosed in korean patent laid-open publication No. 10-0920934.
Disclosure of Invention
The present invention has been made to solve the above-described problems of the prior art, and an object of the present invention is to provide an automatic changeover kit exchange system, a table module, and an automatic changeover kit exchange device, which can automatically exchange an upper plate of the table module.
However, the technical problems to be solved by the embodiments of the present invention are not limited to the above technical problems, and other technical problems may also be present.
As a technical means for achieving the above technical problem, the automatic changeover kit replacement system according to the first aspect of the present invention may include: a package cutting device that cuts the strip into packages; a drying device for drying the package; a vision table provided with a package; and a pickup device for sucking the package and transferring the package among the package cutting device, the drying device and the vision table, wherein the pickup device can configure or remove a conversion kit sucking the package among the package cutting device, the drying device, the vision table and the pickup device.
In addition, in the conversion kit automatic exchange system according to an embodiment of the present invention, the pickup device may include: a first pick-up module to transfer the strip to the package cutting device; a second pick-up module transferring the packages from the package cutting device to the drying device; and a third pick-up module transferring the package from the drying device to the vision station, the first to third pick-up modules each removing a conversion kit pre-configured with respect to the package cutting device, the drying device, or the vision station, or configuring a new conversion kit.
In addition, in the automatic changeover kit replacing system according to an embodiment of the present invention, the second picking module may transfer the changeover kit between the package cutting apparatus and the drying apparatus, and the third picking module may transfer the changeover kit between the drying apparatus and the vision table.
In addition, in the automatic conversion kit replacing system according to an embodiment of the present invention, the system further includes a handling device for preparing the conversion kit, the first picking module is provided with the conversion kit from the handling device so as to be positionable with respect to the package cutting device, the second picking module picks up the conversion kit positioned with respect to the package cutting device so as to be positionable with respect to the drying device, and the third picking module picks up the conversion kit positioned with respect to the drying device so as to be positionable with respect to the vision table.
In addition, in the conversion kit automatic exchange system according to an embodiment of the present invention, the third picking module further picks up the conversion kit placed with respect to the drying device after placing the conversion kit with respect to the vision table, and the second picking module further picks up the conversion kit placed with respect to the package cutting device after placing the conversion kit with respect to the drying device.
In addition, in the conversion kit automatic exchange system according to an embodiment of the present invention, the first picking module may pick up the conversion kit placed with respect to the package cutting apparatus and transfer the conversion kit to the handling apparatus, the second picking module may pick up the conversion kit placed with respect to the drying apparatus and place the same with respect to the package cutting apparatus, and the third picking module may pick up the conversion kit placed with respect to the vision table and place the same with respect to the drying apparatus.
In addition, in the conversion kit automatic exchange system according to an embodiment of the present invention, the vision table, the drying device, the third picking module, and the conversion kit of the first picking module and the conversion kit of the package cutting device may be different types from each other.
In addition, in the conversion kit automatic exchange system according to an embodiment of the present invention, the package cutting device, the drying device, the vision station, and the pickup device may each include: a conversion kit; and the negative pressure transmission plate structure is used for adsorbing the conversion kit and communicating the negative pressure generator with the plurality of vacuum holes of the conversion kit.
In the automatic changing system of a conversion kit according to an embodiment of the present invention, the conversion kit may be fixed to the negative pressure transmission plate when the negative pressure transmission plate vacuum-adsorbs the conversion kit, and the conversion kit may be removed from the negative pressure transmission plate when the negative pressure transmission plate releases the vacuum-adsorption of the conversion kit.
In addition, in the conversion kit automatic exchange system according to an embodiment of the present invention, the negative pressure transfer plate structure may include: a product recess portion recessed from a portion opposite to a portion where the plurality of vacuum holes of the conversion kit are formed, to transmit a negative pressure action and release of the negative pressure generated by the negative pressure generator to the vacuum holes; and a sleeve recess, a portion opposite to at least a portion of the edge portion of the conversion sleeve being recessed to accomplish vacuum suction of the conversion sleeve.
In addition, in the conversion kit automatic exchange system according to an embodiment of the present invention, the kit recess may have a cross-section in a shape of a long hole formed to extend in a longitudinal direction of the table structure.
In addition, in the conversion kit automatic exchange system according to an embodiment of the present invention, it may be that the negative pressure transfer plate structure includes a protruding protrusion, and a hole into which at least a portion of the protrusion is inserted is formed in the conversion kit.
A stage module according to a second aspect of the invention, comprising: a conversion kit having a plurality of vacuum holes formed in a Z-axis direction; and negative pressure transmission plate structure for the workstation disposes on the another side of Z axle direction the conversion external member to be linked together negative pressure generator with the vacuum hole, negative pressure transmission plate structure for the workstation can vacuum adsorption the conversion external member, works as negative pressure transmission plate structure for the workstation is right when the conversion external member carries out vacuum adsorption, the conversion external member is fixed on the negative pressure transmission plate structure for the workstation, works as negative pressure transmission plate structure for the workstation removes right during the vacuum adsorption of conversion external member, can follow negative pressure transmission plate structure for the workstation is got rid of the conversion external member.
In addition, in the table module according to an embodiment of the present invention, the negative pressure transfer plate structure for a table may include: a product recess for a table, a portion of which is opposite to a portion where the plurality of vacuum holes of the conversion kit are formed being recessed toward one side in the Z-axis direction, so as to transmit a negative pressure action and a release of the negative pressure generated by the negative pressure generator to the vacuum holes; and a table sleeve recessed portion, wherein a portion of the table sleeve, which is opposite to at least a part of the edge portion of the conversion sleeve, is recessed toward one side in the Z-axis direction, so as to complete vacuum suction of the conversion sleeve.
In addition, in the table module according to an embodiment of the present invention, the bundle recessed portion may have a cross-section in a shape of a long hole formed to be elongated in a longitudinal direction of the conversion bundle.
In the stage module according to an embodiment of the present invention, the stage negative pressure transmission plate structure may include a protrusion protruding toward the other side in the Z-axis direction, and the conversion kit may be formed with a hole into which at least a part of the protrusion is inserted.
The automatic changing device of a conversion kit according to a third aspect of the present invention comprises: a table module according to the first aspect of the invention; and a pickup module which can separate a conversion kit configured in advance with respect to the negative pressure transmission plate structure for the work table from the negative pressure transmission plate structure for the work table, or can place a new conversion kit with respect to the negative pressure transmission plate structure for the work table.
In addition, in the automatic replacing apparatus of the converting kit according to an embodiment of the present invention, the pickup module includes a negative pressure transfer plate structure for a pickup to which the converting kit is mounted at one side in the Z-axis direction, and the negative pressure transfer plate structure for a pickup may vacuum-adsorb the converting kit.
In addition, in the conversion kit automatic exchange apparatus according to an embodiment of the present invention, the negative pressure transfer plate structure for a picker may include: a pickup product recess portion recessed toward the other side in the Z-axis direction at a portion opposed to the portion where the plurality of vacuum holes of the conversion kit are formed, for transmitting the negative pressure action and the release of the negative pressure generated by the negative pressure generator to the vacuum holes; and a pickup sleeve recessed portion, a portion of which is opposite to the edge portion of the conversion sleeve is recessed toward the other side in the Z-axis direction, so as to complete the suction of the conversion sleeve.
In addition, in the conversion kit automatic exchange device according to an embodiment of the present invention, the picker kit recess may have a cross-section in a shape of a long hole formed to be elongated in a longitudinal direction of the conversion kit.
In addition, in the conversion kit automatic exchange device according to an embodiment of the present invention, the negative pressure transmission plate structure for the pickup may include a protrusion protruding toward one side in the Z-axis direction, and a hole into which at least a part of the protrusion is inserted may be formed in the negative pressure transmission plate structure for the table.
In addition, in the conversion kit automatic exchange device according to an embodiment of the present invention, the conversion kit may further include a pair of protrusions protruding outward from both side surfaces of the conversion kit, respectively, so as to be formed to extend in a longitudinal direction of the conversion kit, and the negative pressure transmission plate structure for a pickup may further include a pair of coupling portions protruding in a Z-axis direction from both side surfaces of the negative pressure transmission plate structure for a pickup, respectively, so as to be inserted and coupled to the pair of protrusions.
In addition, in the conversion kit automatic exchange apparatus according to an embodiment of the present invention, the pickup module further includes a conversion kit, and when the conversion kit of the pickup module is not mounted on the negative pressure transmitting plate structure for the pickup, the conversion kit previously arranged with respect to the negative pressure transmitting plate structure for the table may be separated or a new conversion kit may be placed.
The automatic changeover kit replacing system according to the fourth aspect of the present invention may include: a package cutting device that cuts the strip into packages; a drying device for drying the package; a vision table on which the package is placed; and a pickup unit disposed at the other side of the Z-axis of the package cutting device, the drying device, and the vision table, and transferring the package among the package cutting device, the drying device, and the vision table, wherein the package cutting device, the drying device, the vision table, and the pickup unit each include an adsorption module adsorbing the package, the adsorption module includes a clamp capable of clamping a conversion kit having a plurality of vacuum holes formed in the Z-axis direction, and the pickup unit disposes or removes the conversion kit at the package cutting device, the drying device, the vision table, and the pickup unit.
In addition, in the automatic replacement system of a conversion kit according to an embodiment of the present invention, the adsorption module may include: the conversion kit; the negative pressure transmission plate structure is provided with the conversion suite on one surface facing to the Z-axis direction and is communicated with the negative pressure generator and the vacuum hole of the conversion suite; the clamp is positioned on one side of the negative pressure transmission plate structure in the Z-axis direction and can clamp the conversion suite in a basic state; and a protrusion portion protruding in one surface of the negative pressure transfer plate structure in the Z-axis direction, guiding adjacent clamps of adjacent adsorption modules to an outside moving state, the adjacent adsorption modules being adjacent in the Z-axis direction to be opposite to the adsorption modules.
In addition, in the conversion kit automatic exchange system according to an embodiment of the present invention, the pickup part may be disposed such that a suction module thereof is opposite to respective suction modules of the package cutting device, the drying device, and the vision table.
In addition, in the conversion kit automatic exchange system according to an embodiment of the present invention, the jig may include: a clamp unit at least a part of which is provided to protrude toward one surface of the negative pressure transmission plate structure in the Z-axis direction and in which a protrusion protruding inward toward a portion where the conversion kit is disposed is formed; a hinge unit which can rotate the clamp unit by taking the length direction of the negative pressure transmission plate structure as an axis; and an elastic member that supplies an external force to the clamp unit toward the inner side.
In addition, in the conversion kit automatic exchange system according to an embodiment of the present invention, the pickup part may include: a first picking device for transferring the conversion kit between the handling device prepared with the conversion kit and the package cutting device; a second pick-up device to transfer the converting kit between the package cutting device and the drying device; and a third picking device that transfers the conversion kit between the drying device and the vision station, the first to third picking devices each removing the conversion kit previously configured with respect to the package cutting device, the drying device, or the vision station, or configuring a new conversion kit.
In addition, in the conversion kit automatic exchange system according to an embodiment of the present invention, the clamp of the first pickup device may further include an air cylinder that rotates the hinge unit to rotate the clamp unit.
In addition, in the conversion kit automatic exchange system according to an embodiment of the present invention, a guide groove may be formed at an inner side portion of the protrusion of the clamp unit of the clamp of the second and third pickups to guide entry of the adjacent adsorption module to an inner side of the protrusion.
The adsorption module according to the fifth aspect of the present invention may include: a conversion kit having a plurality of vacuum holes formed in a Z-axis direction; the negative pressure transmission plate structure is provided with the conversion suite on one surface facing to the Z-axis direction, and a vacuum hole for communicating the negative pressure generator and the conversion suite; at least one part of the clamp is arranged in a protruding mode towards one side of the negative pressure transmission plate structure in the Z-axis direction, and the clamp can clamp the conversion sleeve piece in a basic state; and a protrusion part at least partially protruding toward one side of the Z-axis of the negative pressure transmission plate structure, guiding adjacent clamps of adjacent adsorption modules into an outside moving state, wherein the adjacent adsorption modules are adjacent toward the Z-axis direction to be opposite to the adsorption modules.
In the adsorption module according to an embodiment of the present invention, the jig may include: a clamp unit at least a part of which is provided to protrude toward one surface of the negative pressure transmission plate structure in the Z-axis direction and in which a protrusion protruding inward toward a portion where the conversion kit is disposed is formed; a hinge unit which can rotate the clamp unit by taking the length direction of the negative pressure transmission plate structure as an axis; and an elastic member that supplies an external force to the clamp unit toward the inner side.
In the adsorption module according to an embodiment of the present invention, a recess portion that can catch a protrusion coupled to the clamp unit formed with a recess portion to complete clamping of the conversion kit in the seating state may be formed at an outer surface of the conversion kit.
In the adsorption module according to an embodiment of the present invention, a guide groove may be formed at an inner side portion of the protrusion of the jig unit to guide entry of the adjacent adsorption module to an inner side of the protrusion.
In the suction module according to an embodiment of the present invention, the clamp unit may be formed at a position corresponding to a protrusion of the adjacent suction module, and when the suction module and the adjacent suction module approach each other in the Z-axis direction, the protrusion of the adjacent suction module enters the guide groove and receives an external force directed outward, and becomes an outward moving state, and the elastic member may be compressed by the external force directed outward.
In the adsorption module according to an embodiment of the present invention, the protrusion may have a wedge shape.
In the suction module according to an embodiment of the present invention, the clamp unit may release the clamping of the conversion kit when the clamp unit is in the outside movement state.
In the adsorption module according to an embodiment of the present invention, the negative pressure transfer plate structure may vacuum-adsorb the conversion kit.
The pickup apparatus according to the sixth aspect of the present invention may include the adsorption module according to the fifth aspect of the present invention.
The table section according to the seventh aspect of the present invention may comprise the adsorption module according to the fifth aspect of the present invention.
According to an eighth aspect of the present invention, an adsorption module may include: a conversion kit having a plurality of vacuum holes formed in a Z-axis direction; the negative pressure transmission plate structure is provided with the conversion suite on one surface facing to the Z-axis direction, and a vacuum hole for communicating the negative pressure generator and the conversion suite; the clamp is positioned on one surface of the negative pressure transmission plate structure in the Z-axis direction and can clamp the conversion suite in a basic state; and the protrusion part is protrudingly positioned on one surface of the negative pressure transmission plate structure in the Z-axis direction, and guides the adjacent clamp of the adjacent adsorption module into an outside moving state, the adjacent adsorption module is adjacent towards the Z-axis direction so as to be opposite to the adsorption module, and the clamp comprises a cylinder for guiding the outside moving state.
In the adsorption module according to an embodiment of the present invention, the jig may include: a clamp unit protruding from one surface of the negative pressure transmission plate structure in the Z-axis direction and having a protrusion protruding inward toward a portion where the conversion kit is disposed; a hinge unit which can rotate the clamp unit by taking the length direction of the negative pressure transmission plate structure as an axis; and an elastic member that provides an external force to the clamp unit toward the inner side, the air cylinder being capable of rotating the hinge unit to rotate the clamp unit.
In the adsorption module according to an embodiment of the present invention, a recess portion capable of latching a protrusion coupled to the clamp unit may be formed on an outer surface of the conversion kit, and the clamp unit may be latched and coupled to the recess portion to complete clamping of the conversion kit in the seating state.
In the suction module according to an embodiment of the present invention, the protrusion may be formed at a position corresponding to the adjacent jig, and when the suction module and the adjacent suction module approach each other in the Z-axis direction, the protrusion enters the guide groove of the adjacent jig unit and an external force directed outward is applied to the adjacent jig unit.
In the adsorption module according to an embodiment of the present invention, the protrusion may have a wedge shape.
In the adsorption module according to an embodiment of the present invention, the clamp unit may be rotated by an external force applied by the cylinder and moved outward to be in the outward movement state, and the elastic member may be compressed by an outward external force generated by the outward movement of the clamp unit.
In the adsorption module according to an embodiment of the present invention, the clamp unit may release the clamping of the conversion kit when the clamp unit is in the outside movement state.
In the adsorption module according to an embodiment of the present invention, an accommodation portion that can accommodate the protrusion of the adjacent adsorption module may be formed at the clamp unit.
In the adsorption module according to an embodiment of the present invention, the negative pressure transfer plate structure may vacuum-adsorb the conversion kit.
The pickup apparatus according to the ninth aspect of the present invention may include the adsorption module according to the eighth aspect of the present invention.
The above-described problem solving means are only examples and should not be construed as limiting the intention of the present invention. In addition to the exemplary embodiments described above, there may be embodiments in the drawings and the detailed description of the invention.
Effects of the invention
According to the above-mentioned means for solving the problems of the present invention, since the converting kit can be mounted on the negative pressure transmitting plate structure by vacuum suction of the negative pressure transmitting plate structure, the fixing and releasing of the fixing of the converting kit and the negative pressure transmitting plate structure can be automatically completed by whether or not the vacuum suction is formed, and thus, if the fixing is automatically released, the pickup module vacuum sucks the converting kit and separates and transfers the converting kit from the negative pressure transmitting plate structure, thereby automatically removing the previously configured converting kit, and when the pickup module transfers a new converting kit to place, the negative pressure transmitting plate structure performs vacuum suction to automatically fix the position, thereby automatically configuring and fixing the new converting kit.
In addition, the first picking module, the second picking module and the third picking module transfer the conversion kit in a relay type, so that the conversion kit can be installed in the order of the vision station, the third picking module, the drying device, the second picking module and the package cutting device, and thus the conversion kit can be effectively placed even though the conversion kits of the vision station, the third picking module, the drying device, the second picking module and the package cutting device are different types from each other.
Further, according to the above-described problem solving means of the present invention, since the pickup module includes the coupling portion, the conversion kit and the negative pressure transmission plate structure can be physically fixed by the coupling portion, and therefore, even when the vacuum suction is interrupted, the conversion kit can be prevented from being separated from the negative pressure transmission plate structure, and the problem of breakage of the conversion kit can be prevented.
In addition, by automatically replacing the conversion kit, the replacement speed of the conversion kit can be increased, the overall yield of the package manufacturing apparatus can be increased, and the completion degree of the conversion kit replacement work can be increased.
Further, according to the above-described problem solving means of the present invention, when the conversion kit and the negative pressure transmission plate structure are fixed to each other by vacuum suction, and when the vacuum suction is interrupted due to an unexpected problem, the fixation of the conversion kit and the negative pressure transmission plate structure is released and the conversion kit may be separated from the negative pressure transmission plate structure, the clamp physically clamps the conversion kit and releases the clamping by the clamp through the protruding portion of the adjacent adsorption module when the clamp approaches the cylinder or the adjacent adsorption module in the Z-axis direction, whereby the conversion kit can be prevented from being accidentally detached from the negative pressure transmission plate structure even when the vacuum suction is interrupted, and the clamping can be easily released if necessary, and the conversion kit can be removed.
In addition, according to the above-mentioned problem solving means of the present invention, since the converting kit is clamped by the jig and then fixed to the negative pressure transmitting plate structure, it is possible to prevent the converting kit from being lifted or separated or moved on the negative pressure transmitting plate structure when the blow air (air blowing) is supplied to the inside of the vacuum hole of the converting kit.
Further, since the conversion kit is physically clamped by the clamp, even if the size of the conversion kit is reduced, a portion of the conversion kit to be vacuum-sucked (frame portion) is reduced, or the size of the conversion kit is minimized to be as small as possible as the size of the strap, the coupling force of the conversion kit to the negative pressure transmission plate structure can be increased.
Drawings
Fig. 1 is a schematic perspective view of a conversion kit automatic exchange system according to a first embodiment of the present invention.
Fig. 2 is a schematic perspective view of the conversion kit automatic exchange system according to the first embodiment of the present invention, viewed from a different angle than fig. 1 and shown.
Fig. 3 is a schematic perspective view of a table module of the conversion kit automatic exchange system according to the first embodiment of the present invention.
Fig. 4 is a schematic front view of a table module of the conversion kit automatic exchange system according to the first embodiment of the present invention, showing a partial sectional view.
Fig. 5 is a schematic perspective view of a negative pressure transfer plate structure of the conversion kit automatic exchange system according to the first embodiment of the present invention.
Fig. 6 is a schematic perspective view of a pick-up module of the conversion kit automatic exchange system according to the first embodiment of the present invention.
Fig. 7 is a schematic perspective view of a picking module of the conversion kit automatic exchange system according to the first embodiment of the present invention, viewed from a different angle from fig. 6 and shown.
Fig. 8 is a schematic perspective view of a picker module of the conversion kit automatic exchange system according to the first embodiment of the present invention without installation of the conversion kit.
Fig. 9 is a schematic front view of a picking module of the conversion kit automatic exchange system according to the first embodiment of the present invention, showing a partial sectional view.
Fig. 10 is a schematic front view of a table module of a turn-over module of a drying device of the conversion kit automatic exchange system according to the first embodiment of the present invention.
Fig. 11 is a schematic perspective view of the adsorption module according to the first embodiment of the present invention, which is applied to the package cutting device, the drying device, and the vision table of the conversion kit automatic exchange system according to the second embodiment of the present invention.
Fig. 12a is a schematic front view of a suction module according to a first embodiment of the present invention, adapted for use in a package cutting device, a drying device and a vision station of a conversion kit automatic exchange system according to a second embodiment of the present invention, showing a partial sectional view.
Fig. 12b is a partial enlarged view of fig. 12 a.
Fig. 12c is a partial enlarged view of fig. 12 a.
Fig. 12d is a schematic perspective view with a part of the product removed and shown to explain the clamp unit and the elastic member of the adsorption module according to the first embodiment of the present invention, which are applied to the package cutting device, the drying device and the vision table of the conversion kit automatic exchange system according to the second embodiment of the present invention.
Fig. 13 is a schematic perspective view of a negative pressure transfer plate structure of the adsorption module according to the first embodiment of the present invention without installing the conversion kit, which is applied to the package cutting device, the drying device and the vision table of the conversion kit automatic exchange system according to the second embodiment of the present invention.
Fig. 14 is a schematic perspective view of a second picker (or a third picker) of the conversion kit automatic exchange system according to the second embodiment of the present invention.
Fig. 15 is a schematic perspective view of the second picker (or the third picker) of the conversion kit automatic exchange system according to the second embodiment of the present invention, viewed from a different angle from fig. 14 and shown.
Fig. 16 is a schematic perspective view of a second picker (or a third picker) of the conversion kit automatic exchange system according to the second embodiment of the present invention, to which a conversion kit is not mounted.
Fig. 17 is a schematic perspective view of a first picker of the conversion kit automatic exchange system according to the second embodiment of the present invention.
Fig. 18 is a schematic perspective view of the first picker of the conversion kit automatic exchange system according to the second embodiment of the present invention, viewed from a different angle from fig. 17 and shown.
Fig. 19 is a schematic perspective view of a first picker of the conversion kit automatic exchange system according to the second embodiment of the present invention, to which the conversion kit is not mounted.
Fig. 20 is a schematic front view of a first picker of a conversion kit automatic exchange system according to a second embodiment of the present invention, showing a partial sectional view.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that those having ordinary skill in the art to which the present invention pertains can easily carry out the embodiments. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein. In the drawings, portions that are not related to the description are omitted for the sake of clarity, and like reference numerals are given to like portions throughout the specification.
Throughout the description of the present invention, when a certain portion is referred to as being "connected" to another portion, the "direct connection" includes not only the case of being "directly connected" but also the case of being "electrically connected" with another element interposed therebetween.
Throughout the specification of the present invention, when a part is referred to as being "above", "upper", "lower" or "lower" another part, it includes not only a case where the part is connected to another part but also a case where another part is present between the two parts.
Throughout the description of the present invention, when a certain component is referred to as being "included" in a certain part, unless otherwise stated, it means that other components may be included without excluding other components.
The invention relates to an automatic conversion kit replacement system, a workbench module and an automatic conversion kit replacement device.
First, an automatic change-over kit replacement system (hereinafter, referred to as "present first system") according to a first embodiment of the present invention is explained.
For reference, in the present invention, the pickup module is a concept including one or more of the first to third pickup modules 41, 42, 43, the negative pressure transfer plate structures 112a, 112b may be one or more of the negative pressure transfer plate structure 112a for the table including the table module 11 and the negative pressure transfer plate structure 112b for the pickup module 41, the product recess may be one or more of the product recess 1121a for the table and the product recess 1121b for the pickup, and the kit recess may be one or more of the kit recess 1122a for the table and the kit recess 1122b for the pickup. With reference to fig. 1 and 2, the first system comprises a package cutting device 1 for cutting the strip into packages. The encapsulation cutting device 1 may comprise a table module 11, and the strip conveyed to the table module 11 of the encapsulation cutting device 1 may be cut into individual encapsulations by a blade (not shown).
Referring to fig. 1 and 2, the first system includes a drying device 2 for drying the package. The packages cut by the package cutting apparatus 1 are transferred to the drying apparatus 2 to be washed, and may be dried after the washing. The drying device 2 may include a loading module 21 and an overturning module 22.
Referring additionally to fig. 1 and 2, the first system includes a vision station 3 for mounting the package. The packages dried in the drying device 2 may be placed on a vision table 3 before inspection.
In addition, referring to fig. 1 and 2, the present first system includes a picker device 4 that sucks the tape or package and transfers it between the package cutting device 1, the drying device 2, and the vision station 3. Referring to fig. 1, the picker apparatus 4 may include a first picking module 41, a second picking module 42, and a third picking module 43. The first pick-up module 41 may transfer the strip to the encapsulation cutting device 1, the second pick-up module 42 may transfer the encapsulation from the encapsulation cutting device 1 to the drying device 2, and the third pick-up module 43 may transfer the encapsulation from the drying device 2 to the vision station 3.
The package cutting device 1, the drying device 2, the vision stage 3, and the pickup device 4 may each include: a conversion kit 111; and negative pressure transmitting plate structures 112a, 112b for mounting the conversion kit 111. Which is described in detail below.
Referring to fig. 1 and 2, the package cutting apparatus 1, the drying apparatus 2, and the vision station 3 may include a table module 11. For example, it may be that the package cutting apparatus 1 includes 2 table modules 11, the drying apparatus 2 includes 2 table modules 11, and the vision station 3 includes 2 table modules 11. A strip or a package may be placed at the table module 11. For example, the tape may be placed on the table module 11 of the package cutting device 1, and the package may be placed on the table modules 11 of the drying device 2 and the vision table 3. More specifically, the first pick module 41 may be supplied with a tape from the handling device 5 and placed on the table module 11 of the package cutting device 1, the tape may be cut by a blade in a state of being placed on the table module 11 of the cutting device 1, a plurality of packages formed by the cutting may be transferred and loaded on the table module 11 of the drying device 2 by the second pick module 41 (a washing process may be performed during the transfer), and the dried packages may be vacuum-held by the third pick module 43 and placed on the table module 11 of the vision station 3.
Referring to fig. 3 and 4 together, the table module 11 may include a conversion kit 111 having a plurality of vacuum holes 1111 formed in the Z-axis direction. The strip or package placed on the bench module 11 may be placed on the conversion kit 111. For example, the conversion kit 111 may include a first panel 111a1 and a second panel 111a2, and the vacuum holes 1111 may include: a first pipe portion 11111 formed to penetrate the first plate 111a1 in the Z-axis direction; and a second pipe portion 11112 extending from the first pipe portion 11111 and formed to penetrate the second plate 111a2 in the Z-axis direction. For reference, in the description of the present invention, referring to fig. 4, the direction arrangement of the one side of the conversion kit 111 of the present invention in the Z-axis direction and the other side of the Z-axis direction may be such that the direction toward the first plate 111a1 is set as the other side of the Z-axis direction and the direction toward the second plate 111a2 is set as the one side of the Z-axis direction with respect to the space between the first plate 111a1 and the second plate 111a2 of the conversion kit 111. Thus, the one surface in the Z-axis direction of the conversion kit 111 may be the surface on which the second tube part 11112 is formed, and the other surface in the Z-axis direction of the conversion kit 111 may be the surface on which the first tube part 11111 is formed (the surface that comes into contact with the tape or the package when the tape or the package is sandwiched).
Referring to fig. 3 to 5, the table module 11 may include a negative pressure transfer plate structure 112a (hereinafter, the negative pressure transfer plate structure 112a of the table module 11 is referred to as a "table negative pressure transfer plate structure 112 a"), and the table negative pressure transfer plate structure 112a may adsorb the conversion kit 111, communicating the negative pressure generator with the plurality of vacuum holes 1111 of the conversion kit 111.
Referring to fig. 3 and 4 together, a conversion kit 111 may be disposed on the other surface of the table negative pressure transmission plate structure 112a in the Z-axis direction, and a negative pressure generator (not shown) located below the table negative pressure transmission plate structure 112a (on one side in the Z-axis direction) and the vacuum hole 1111 may communicate with each other by the table negative pressure transmission plate structure 112 a. For example, referring to fig. 4 and 5 together, the table negative pressure transfer plate structure 112a may include a table product recess 1121a, and the table product recess 1121a is formed by recessing a portion of the conversion kit 111 where the plurality of vacuum holes 1111 are formed, toward one side in the Z-axis direction. The product recess 1121a for the table can transmit the negative pressure action and the release of the negative pressure generated by the negative pressure generator to the vacuum hole 1111. Specifically, although not specifically shown, the table negative pressure transfer plate structure 112a may include a communication port for communicating the table product recess 1121a with the negative pressure generator, and when the negative pressure generator sucks in gas (generates negative pressure), the gas in the table product recess 1121a flows into the negative pressure generator side, and thus the gas in the vacuum holes 1111 flows into the negative pressure generator side through the table product recess 1121a, and thus negative pressure is formed in the vacuum holes 1111, and the package or the tape placed on the conversion kit 111 may be adsorbed. When the negative pressure generator releases (stops) the generation of the negative pressure, the generation of the negative pressure in the vacuum hole 1111, which communicates with the negative pressure generator through the table negative pressure transmitting plate structure 112a, is interrupted, and the suction through the vacuum hole 1111 can be interrupted.
Referring to fig. 4 and 5 together, the table negative pressure transmission plate structure 112a may include a table kit depression 1122a in which a portion of the table kit depression 1122a facing at least a portion of the edge portion of the conversion kit 111 is depressed toward one side in the Z-axis direction, thereby completing vacuum suction of the conversion kit 111. Although not shown in detail, the table negative pressure transmission plate structure 112a may include a communication port that communicates the table bundle recessed portion 1122a with the negative pressure generator. When the negative pressure generator generates negative pressure, the gas in the table kit recess 1122a flows into the negative pressure generator side to form negative pressure in the table kit recess 1122a, so that the table kit recess 1122a can be brought into a state in which the lower surface of the edge portion of the conversion kit 111 can be sucked. When the negative pressure generator interrupts (releases) the generation of the negative pressure, the generation of the negative pressure in the table kit recess 1122a is released, and the suction can be interrupted.
Thus, when the table negative pressure transmission plate structure 112a vacuum-adsorbs the conversion kit 111, the conversion kit 111 can be fixed to the table negative pressure transmission plate structure 112 a. When the vacuum suction of the conversion kit 111 by the table negative pressure transmission plate structure 112a is released, the conversion kit 111 can be removed from the table negative pressure transmission plate structure.
The table kit recess 1122a may have a cross section in the shape of an elongated hole extending in the longitudinal direction of the conversion kit 111 (the X-axis direction in fig. 5).
In addition, referring to fig. 6 and 7, each of the first to third picking modules 41, 42 and 43 may include a negative pressure transfer plate structure to which the converting kit 111 is mounted (hereinafter, the negative pressure transfer plate structure of the first to third picking modules 41, 42 and 43 is referred to as a "negative pressure transfer plate structure for a picker 112 b"). The conversion kit 111 may be mounted on the negative pressure transfer plate structure for pickers 112b by vacuum-sucking the conversion kit 111 through the negative pressure transfer plate structure for pickers 112 b. Thereby, the conversion sleeve 111 can be attached to one side (lower side in fig. 7) in the Z-axis direction of the negative pressure transmitting plate structure 112b for the pickup.
Specifically, referring to fig. 8, the negative pressure transfer plate structure 112b for the picker may include a product recess portion 1121b for the picker, at least a portion of the product recess portion 1121b, which is a portion opposite to the portion of the conversion kit 111 where the plurality of vacuum holes 1111 are formed, is recessed toward the other side in the Z-axis direction to transfer the negative pressure action and release of the negative pressure generated by the negative pressure generator to the vacuum holes 1111. Although not shown in detail, the negative pressure transfer plate structure 112b for a pickup may include a communication port communicating the product recess 1121b for a pickup with the negative pressure generator. Thus, when the conversion kit 111 is mounted on the pickup negative pressure transfer plate structure 112b such that one surface of the conversion kit 111 in the Z-axis direction is opposed to one surface of the pickup negative pressure transfer plate structure 112b in the Z-axis direction (main mounting), the conversion kit 111 can be vacuum suction-sealed by the action of the pickup product recess 1121b and the vacuum hole 1111 of the pickup negative pressure transfer plate structure 112 b. The contents of the communication port, the pickup product recess 1121b, and the like correspond to those observed in the table negative pressure transfer plate structure 112a, and therefore, detailed description thereof is omitted. For reference, when the conversion kit 111 to be mounted on the negative pressure transmission plate structure for pickup 112b is provided to the pickup module, the pickup module may be provided with the conversion kit 111 in a state in which one surface in the Z-axis direction of the conversion kit 111 faces the other surface in the Z-axis direction, so that the conversion kit 111 is formally mounted in such a manner that the one surface in the Z-axis direction of the conversion kit 111 faces the one surface in the Z-axis direction of the negative pressure transmission plate structure for pickup 112b, and the conversion kit 111 is vacuum-sucked by the kit recess portion 1122b for pickup. According to an embodiment of the present invention, the conversion kit 111 mounted to the picking module may be received in and taken out from the cassette in such a manner that one surface of the conversion kit 111 in the Z-axis direction faces the upper side.
In addition, the negative pressure transfer plate structure for pickup 112b may include a kit-for-pickup recess portion 1122b, and the kit-for-pickup recess portion 1122b is a portion opposite to the edge portion of the conversion kit 111 recessed toward the other side in the Z-axis direction, thereby completing the suction of the conversion kit 111. In addition, the negative pressure transfer plate structure 112b for a pickup may include a communication port that communicates the package recess 1122b for a pickup with the negative pressure generator. The functions and the like of the communication port and the pickup nest recessed portion 1122b correspond to those observed in the table negative pressure transmission plate structure 112a, and therefore, detailed description thereof is omitted.
As described above, when the conversion kit 111 is vacuum-sucked by the negative pressure transfer plate structure for pickup 112b, the conversion kit 111 may be fixed to the negative pressure transfer plate structure for pickup 112 b. In addition, when the vacuum suction of the conversion kit 111 by the negative pressure transfer plate structure 112b for the picker is released, the conversion kit 111 may be brought into a state that can be removed from the negative pressure transfer plate structure for the picker.
For reference, the conversion kit 111 is mounted on the negative pressure transfer plate structure for picker 112b such that the Z-axis face of the negative pressure transfer plate structure for picker 112b is opposite to the Z-axis face of the conversion kit 111 (case of formal mounting), the pick-up module may be in a state capable of clamping the semiconductor or the tape. In addition, when it is a state that the converting kit 111 is not mounted on the picker-use negative pressure transfer plate structure 112b, the picker-use negative pressure transfer plate structure 112b may be in a state that the converting kit 111 can be transferred, and at this time, the picker-use negative pressure transfer plate structure 112b may mount the converting kit 111 on the picker-use negative pressure transfer plate structure 112b such that the Z-axis one face of the picker-use negative pressure transfer plate structure 112b is opposed to the Z-axis other face of the converting kit 111 (a temporarily mounted state), and transfer the converting kit 111.
The pickup sleeve recess 1122b may have a cross section in the shape of a long hole extending in the longitudinal direction of the conversion sleeve 111.
In the present first system, the pickup device 4 may dispose or remove the conversion kit 111 that adsorbs the package at the package cutting device 1, the drying device 2, the vision table 3, and the pickup device 4. Specifically, when it is a state that the conversion kit 111 is not mounted on the respective negative pressure transfer plate structures 112a, the first to third picker modules 41, 42, 43 may each suck the conversion kit 111 and transfer it. In addition, the suction of the conversion kit 111 and the transfer may mean that the first to third picking modules 41, 42 and 43 remove the conversion kit 111 disposed in advance with respect to the package cutting apparatus 1, the drying apparatus 2 or the vision table 3, or dispose a new conversion kit 111, respectively.
In particular, it is possible that the second pick-up module 42 conveys the conversion kit 111 between the package cutting device 1 and the drying device 2, and the third pick-up module 43 conveys the conversion kit 111 between the drying device 2 and the vision station 3.
In addition, when the conversion kit 111 is in a state of not being formally mounted on the negative pressure transmission plate for pickup 112a (a state of mounting the conversion kit 111 such that the Z-axis surface of the conversion kit 111 is opposed to the Z-axis surface of the negative pressure transmission plate for pickup 112 a), the pickup module (one or more of the first to third pickup modules 41, 42, 43) may transmit the conversion kit 111.
First, the case where the pickup device 4 arranges the conversion nest 111 in the negative pressure transmission plate structure (the table negative pressure transmission plate structure 112b) of the table module 11 of each of the package cutting device 1, the drying device 2, and the vision table 3 will be described below.
Before the conversion kit 111 is disposed on the table negative pressure transmission plate structure 112b of the table module 11, the table module 11 may be in a state where the conversion kit 111 previously disposed on the table negative pressure transmission plate structure 112b is removed. The removal of the prearranged conversion kit 111 will be described later.
For example, referring to fig. 1, the present first system may include the handling device 5 having prepared the conversion kit 111, and the first picking module 41 may be supplied from the handling device 5 to the conversion kit 111 and placed with respect to the package cutting device 1. In more detail, the conversion kit 111 to be mounted is taken out from the handling device 5 by a gripper (not shown), and the first picking module 41 lowers and vacuum-adsorbs the conversion kit 111 taken out on a guide rail (not shown). According to an embodiment of the present invention, a conversion kit cassette accommodating a plurality of conversion kits 111 may be provided at the handling device 5. The conversion kit cartridge may be used in a manner of being divided into a cartridge accommodating an installation conversion kit and a cartridge accommodating a recovery conversion kit. In addition, it is possible to distinguish the conversion kits according to the kinds of the conversion kits or to distinguish the conversion kits according to the package size, thereby accommodating a plurality of conversion kits in the cassette.
In addition, the second picking module 42 may pick up the conversion kit 111 placed with respect to the package cutting device 1 and place it with respect to the drying device 2. In addition, after placing the conversion kit 111 with respect to the drying device 2, the second picking module 42 may further pick up the conversion kit 111 placed with respect to the package cutting device 1. In addition, the third pick-up module 43 may pick up the conversion kit 111 placed with respect to the drying device 2 and place it with respect to the vision table 3. In addition, after placing the conversion kit 111 with respect to the vision table 3, the third picking module 43 may further pick up the conversion kit 111 placed with respect to the drying device 2.
More specifically, referring to fig. 1, for example, suppose a case where 2 conversion kits 111 need to be placed on the vision table 3, 1 conversion kit 111 needs to be placed on the third pick-up module 43, 2 conversion kits 111 needs to be placed on the drying device 2, 1 conversion kit 111 needs to be placed on the second pick-up module 42, and 2 conversion kits 111 need to be placed on the package cutting device 1. The first pick-up module 41 may be provided with the conversion kit 111 from the handling device 5 and sequentially place the conversion kit 111 8(2+1+2+1+2) times one at a time to the table module 11 of the package cutting device 1 (where the table modules 11 of the 2 package cutting devices 1 are hollow), the conversion kit 111 where the first pick-up module 41 is first placed on the package cutting device 1 may be picked up by the second pick-up module and placed on the table module 11 of the drying device 2, and the third pick-up module 43 may pick up the first conversion kit 111 and placed on the table module 11 of the vision table 3. During the completion of the transfer work of the first conversion kit 111, a transfer work of a second conversion kit 111 may be further performed, the first picking module 41 may transfer the second conversion kit 111 after transferring the first conversion kit 111, the second conversion kit 111 transferred to the table module 11 of the package cutting apparatus 1 by the first picking module 41 may be placed on the table module 11 of the drying apparatus 42 by the second picking module 42 ending the transfer of the first conversion kit 111, and then, the third picking module 43 ending the transfer of the first conversion kit 111 may place the second conversion kit 111 on the other table modules 11 of the vision table 3. As described above, the transfer of 8 conversion kits 111 may be continued, and in the process, the process of placing the conversion kits 111 on the table module 11 of the vision table 3 is completed, and the third pick-up module 43 may formally mount the third conversion kit 111 on its own negative pressure transfer plate structure 112b for a picker. At this time, as described above, when the conversion kit 111 is formally mounted by the pickup module, since the conversion kit 111 is formally mounted by the pickup module such that the one surface in the Z-axis direction of the conversion kit 111 faces the one surface in the Z-axis direction of the negative pressure transmission plate structure for pickup 112b, the third conversion kit 111 to be mounted on the negative pressure transmission plate structure for pickup 112b of the third pickup module 43 is transferred to the package cutting apparatus 1 in a state where the one surface in the Z-axis direction faces the other surface (upper side) in the Z-axis direction, unlike the first, second, fourth, fifth, seventh, and eighth conversion kits 111 described later, and can be placed on the drying apparatus 2 via the second pickup module 42. In addition, after the fourth conversion kit 111 is transferred to the table module 11 of the package cutting device 1 by the first picking module 41, it may be placed on one of the 2 table modules 11 of the drying device 1 by the second picking module 42, and after the fifth conversion kit 111 is transferred to the table module 11 of the package cutting device 1 by the first picking module 41, it may be placed on the remaining one of the 2 table modules 11 by the second picking module 42, whereby the placement of the conversion kit 111 of the drying device 2 may be completed. Then, the sixth conversion kit 111 transferred to the table module 11 of the package cutting apparatus 1 may be mounted on the negative pressure transfer plate structure 112b for the picker of the second picker module 42. As described above, when the conversion kit 111 is installed by the pickup module, since the conversion kit 111 is installed by the pickup module so that the Z-axis direction surface of the conversion kit 111 faces the Z-axis direction surface of the negative pressure transmission plate structure for pickup 112b, the sixth conversion kit 111 to be installed by the negative pressure transmission plate structure for pickup 112b of the second pickup module 42 can be placed on the package dicing apparatus 1 in a state where the Z-axis direction surface faces the other side in the Z-axis direction, unlike the first, second, fourth, fifth, seventh, and eighth conversion kits 111 described later. Then, each of the seventh conversion kit 111 and the eighth conversion kit 111 may be placed on one of the table modules 11 of the package cutting apparatus 1 by the first pick-up module 41, and through the process as described above, the automatic configuration of the conversion kit 111 may be completed.
Additionally, the removal of the pre-configured conversion kit 111 may include the following processes.
First, the first picking module 41 may pick up the conversion kit 111 placed with respect to the package cutting apparatus 1 and transfer it to the handling apparatus 5, the second picking module 42 may pick up the conversion kit 111 placed with respect to the drying apparatus 2 and place it with respect to the package cutting apparatus 1, and the third picking module 43 may pick up the conversion kit 111 placed with respect to the vision table 3 and place it with respect to the package cutting apparatus 1.
Specifically, the first picking module 41 may pick up the conversion kit 111 of the table module 11 of the package cutting device 1 and transfer it to the handling device 5. More specifically, the first picking module 41 may pick up the conversion kit 111 of the table module 11 of the package cutting device 1 and place it on a guide rail (not shown), and push it into a cassette for recovering the conversion kit located on the handling device 5 by a gripper (not shown) for recovery. Thus, when the conversion kit 111 of at least one table module 11 of the package cutting apparatus 1 is removed, the second picking module 42 may place the conversion kit 111 formally mounted on the negative pressure transfer plate structure 112b for a table on the table module 11 of the package cutting apparatus 1 from which the conversion kit 111 is removed, then the first picking module 41 may pick up the conversion kit 111 of the second picking module 42 placed on the table module 11 of the package cutting apparatus 1 and transfer it to the handling apparatus 5, and after the second picking module 42 removes its conversion kit 111, the conversion kit 111 of the table module 11 of the drying apparatus 2 may be sequentially picked up one at a time and placed on the table module 11 of the package cutting apparatus 1 from which the conversion kit 111 is removed, and the first picking module 41 may transfer the conversion kit 111 of the second picking module 42 one at a time to the handling apparatus 5, when the conversion kit 111 of at least one table module 11 of the drying apparatus 3 is removed, the third pick-up module 43 may place the conversion kit 111 formally mounted on the negative pressure transfer plate structure 112b for a table on the table module 11 of the drying apparatus 2 from which the conversion kit 111 is removed, may sequentially pick up the conversion kits 111 of the table modules 11 of the vision table 3 one at a time and place on the table modules 11 of the drying apparatus 2 from which the conversion kit 111 is removed, and the second pick-up module 42 may sequentially transfer the conversion kits 111 where the third pick-up module 43 is placed one at a time to the table modules 11 of the package cutting apparatus 1. By the process described above, automatic removal of the conversion kit 111 may be achieved.
According to an embodiment of the present invention, the conversion kit 111 of each of the vision table 3, the drying device 2, the third pick-up module 43, and the second pick-up module 42 and the conversion kit 111 of the package cutting device 1 may be of different types from each other. This is because the conversion kit 111 of each of the vision station 3, the drying device 2, the third picking module 43 and the second picking module 42 is a plurality of packages that are vacuum-clamped and independently cut, and the conversion kit 111 of the package cutting device 1 is a plurality of packages that are clamped and cut into a strip before being packaged. Therefore, the conversion kit 111 of the package cutting device 1 may have an auxiliary line (cutting groove) between each package position in order to cut the strip into a plurality of packages. Therefore, it is necessary to distinguish the conversion kit 111 combined with the package cutting apparatus 1 from the conversion kit 111 combined with the vision table 3, the drying apparatus 2, the third pick-up module 43, and the second pick-up module 42, and to transfer the conversion kit 111 combined with the package cutting apparatus 1 after transferring the conversion kit 111 combined with the vision table 3, the drying apparatus 2, the third pick-up module 43, and the second pick-up module 42.
When the conversion kit 111 of the package cutting device 1, the drying device 2, and the vision station 3 device is transferred instead of the conversion kit 111 mounted on the picking module, the picking module may grip the conversion kit 111 to transfer such that the other Z-axis surface of the conversion kit 111 is opposite to the one Z-axis surface of the negative pressure transfer plate structure 112b for the picker of the picking module.
When the conversion kit 111 is not disposed in advance, the vacuum suction may be released in the table kit recess 1122a of the conversion kit 111 of the suction table module 11, and the pickup kit recess 1122b of the conversion kit 111 of the suction pickup module may vacuum-suck the conversion kit 111 for transferring the conversion kit 111.
In addition, the pick-up modules 41, 42, 43 may include a conversion kit 111. Thus, when the conversion kit 111 of the pickup module 41, 42, 43 is not mounted on the pickup negative pressure transmission plate structure 112b (in other words, when the conversion kit 111 is not formally mounted on the pickup negative pressure transmission plate structure 112b), the pickup module 41, 42, 43 can be separated from the conversion kit 111 disposed in advance with respect to the table negative pressure transmission plate structure 112b or a new conversion kit 111 can be placed.
In addition, referring to fig. 5 and 8, the negative pressure transfer plate structure 112a, 112b may include a protruding protrusion 1123. For example, referring to fig. 5, the table negative pressure transfer plate structure 112a may include a protrusion 1123 protruding to the other side in the Z-axis direction, and referring to fig. 8, the pickup negative pressure transfer plate structure 112a may include a protrusion 1123 protruding to one side in the Z-axis direction. In addition, referring to fig. 3, a hole 1112 into which at least a portion of the protrusion 1123 is inserted may be formed in the conversion kit 111. By the combination of the protrusions 1123 and the holes 1112, the conversion kit 111 may have a positive position and be clamped or even placed (configured) on the negative pressure transfer plate structure 112a, 112 b.
In addition, referring to fig. 7 and 8, the negative pressure transmitting plate structure 112b for the pickup may include a protrusion 1126 protruding toward one side in the Z-axis direction.
In addition, referring to fig. 3, the table negative pressure transfer plate structure 112a may include a hole 1116 through which at least a portion of the protrusion 1126 is inserted. Thus, when the pickup modules 41, 42, and 43 are arranged with respect to the table module 11 and when the pickup modules 41, 42, and 43 mount a plurality of packages on the conversion nest 111 provided on the table module 11, the pickup-use negative pressure transmission plate structure 112b of the pickup modules 41, 42, and 43 can be arranged at a positive position with respect to the table-use negative pressure transmission plate structure 112a, the conversion nest 111 can be placed on the table-use negative pressure transmission plate structure 112a, and the plurality of packages can be accurately placed on the conversion nest 111 provided on the table module 11.
Referring to fig. 4 and 9, the conversion kit 111 may include a pair of protruding portions 1115 protruding outward from both side surfaces of the conversion kit 111 and extending in the longitudinal direction (X-axis direction in fig. 4) of the conversion kit 111. In addition, referring to fig. 8 and 9, the negative pressure transmitting plate structure for pickup 112b may include a pair of coupling portions 1125 protruding from both side surfaces of the negative pressure transmitting plate structure for pickup 112b toward one side in the Z-axis direction, respectively, for insertion-coupling of the pair of protruding portions 1115.
The coupling portion 1125 may include a one-side part 11251 bent and extended from the one-side part 11251 toward the outside in the Z-axis direction and another-side part 11252 bent and extended from the one-side part 11251 toward the outside, and have a shape extended in a zigzag shape toward the Z-axis direction. Thus, the distance between the one side parts 11251 of the pair of coupling parts 1125 may be narrowed toward the other side in the Z-axis direction, the interval between the other side ends in the Z-axis direction of the one side parts 11251 is narrower than the width of the portion of the conversion kit 111 where the protrusion 1115 is formed, and the interval between the other side parts 11252 of the pair of coupling parts 1125 may be gradually increased toward the other side in the Z-axis direction. Thus, when the picker module picks up the conversion kit 111, the picker module may move (descending movement) toward the Z axis until the Z-axis face of the picker negative pressure transfer plate structure 112b comes into contact with a face of the conversion kit 111, thereby sucking the conversion kit 111, and in this process, the conversion kit 111 may pass between the one side parts 11251 of the pair of coupling parts 1125, and may enter the other end of the one side parts 11251 in the Z axis direction. Thus, the protrusion 1115 and the coupling portion 1125 are in frictional contact with each other, and the conversion kit 111 can be physically attached to the negative pressure transmitting plate structure 112b for the pickup.
In addition, when the conversion kit 111 is placed, the pickup module can place the conversion kit 111 clamped by the pickup module on the table-use negative pressure transmission plate structure 112a of the table module 11, and at this time, the table-use negative pressure transmission plate structure 112a can vacuum-adsorb through the table-use kit recess 1122a, so that an external force in a downward direction is applied to the conversion kit 111, and the pickup module can move in an upward direction, and in this process, the protrusion 1115 of the conversion kit 111 can be detached from the coupling portion 1125 of the pickup-use negative pressure transmission plate structure 112 b.
As described above, by coupling the protrusion 1115 of the conversion kit 111 and the coupling portion 1125 of the pickup negative pressure transmission plate structure 112b, even if the vacuum suction of the conversion kit 111 of the pickup negative pressure transmission plate structure 112b is interrupted (for example, due to the stop of the negative pressure generator or the like), the conversion kit 111 can be maintained in a state of being mounted on the pickup negative pressure transmission plate structure 112b without being separated from the pickup negative pressure transmission plate structure 112 b.
According to an embodiment of the present invention, as shown in fig. 8, the coupling portions 1125 may be staggered, so that even if the conversion kit 111 is easily detached from the pickup negative pressure transmission plate structure 112b by vacuum suction of the table negative pressure transmission plate structure 112a and vacuum suction of the conversion kit 111 of the pickup negative pressure transmission plate structure 112b is interrupted (for example, due to stop of the negative pressure generator), the conversion kit 111 may stably maintain a state of being mounted on the pickup negative pressure transmission plate structure 112b without being separated from the pickup negative pressure transmission plate structure 112 b.
In addition, referring to fig. 10, the coupling portion 1125 may be provided in the negative pressure transmitting plate structure 112a for the table of the table module 11 of the inverter module 22 of the drying device 2 because the table module 11 of the inverter module 22 rotates about the X-axis as a rotation axis. That is, the conversion kit 111 is fixed to the table negative pressure transmission plate structure 112a of the inverter module 22 by vacuum suction, and when the vacuum suction is interrupted in a state where the table module 11 of the inverter module 22 is rotated by 180 °, the conversion kit 111 is detached from the table negative pressure transmission plate structure 112a of the inverter module 22, and therefore, in consideration of this point, the coupling portion 1125 may be provided in the table negative pressure transmission plate structure 112a of the table module 11 of the inverter module 22. The structure and the action of the coupling portion 1125 of the table-use negative-pressure transmitting plate structure 112a of the table module 11 of the inverter module 22 are similar to those of the coupling portion 1125 of the pickup module, and thus, detailed description is omitted.
As described above, in the first system, the conversion kit 111 is mounted on the negative pressure transfer plate structures 112a and 112b by vacuum suction of the negative pressure transfer plate structures 112a and 112b to automatically complete replacement of the conversion kit 111, the detachable state of the conversion kit 111 and the negative pressure transfer plate structures 112a and 112b can be automatically formed by adjusting whether vacuum suction is formed, the conversion kit 111 can be removed by vacuum suction of the pickup module when the vacuum suction is released to form the detachable state, the pickup module can place the conversion kit 111, and vacuum suction can be restarted when a new conversion kit 111 is placed on the negative pressure transfer plate structures 112a and 112b, thereby automatically and fixedly mounting the conversion kit 111 on the negative pressure transfer plate structures 112a and 112 b.
In addition, in the present first system, since the table module 11 of the picker module and the inverter module 22 includes the coupling portion 1125, the conversion kit 111 can be prevented from being unintentionally separated from the table module 11 of the picker module and the inverter module 22 even though the vacuum suction is interrupted due to an unexpected problem.
Further, according to an embodiment of the present invention, identification information may be marked on the conversion kit 111 to identify information related to the conversion kit 111 (for example, size information of a package placement portion of the conversion kit 111 according to a package size and a type of the conversion kit 111 suitable for each table module), a sensor for scanning the identification information may be provided in the first pickup module 41, the first pickup module 41 may pick up the conversion kit 111 if it is determined by the scanning of the sensor that the conversion kit 111 taken out from the handling apparatus 5 is a proper conversion kit 111, and the picking-up may be stopped if it is an improper conversion kit 111.
In addition, the conversion kit 111 may pick up the conversion kit 111 taken out from the handling apparatus 5 and placed on a guide rail (not shown), and when the conversion kit 111 is placed on the guide rail at an angle shifted from the normal position, the first picking module 41 may rotate to pick up the conversion kit 111 disposed at the shifted angle, thereby transferring the conversion kit 111 to have the normal position.
The following describes a stage module (hereinafter referred to as "present stage module") 11 according to an embodiment of the present invention applied to the present first system described above. However, in the description of the present table module 11, the same reference numerals are used for the same or similar structures as those described in the above-described present first system, and the repeated description will be simplified or omitted.
The stage module 11 may include a conversion kit 111 formed with a plurality of vacuum holes 1111 in a Z-axis direction.
The table module 11 includes a table negative pressure transmission plate structure 112a in which a conversion kit 111 is disposed on the other surface in the Z-axis direction, and a negative pressure generator (not shown) and a vacuum hole 1111 are communicated with each other.
The table negative pressure transfer plate structure 112a may vacuum-adsorb the conversion kit 111. Thus, when the table negative pressure transmission plate structure 112a vacuum-sucks the conversion kit 111, the conversion kit 111 is fixed to the table negative pressure transmission plate structure 112 a. When the vacuum suction of the conversion kit 111 by the table negative pressure transmission plate structure 112a is released, the conversion kit 111 is in a state in which it can be removed from the table negative pressure transmission plate structure 112 a.
The stage negative pressure transfer plate structure 112a may include a stage product recess 1121a that is recessed toward one side in the Z-axis direction from a portion of the conversion kit 111 opposite to the portion where the plurality of vacuum holes 1111 are formed. The product recess 1121a for the table can transmit the negative pressure action and the release of the negative pressure generated by the negative pressure generator to the vacuum hole 1111.
The table negative pressure transmission plate structure 112a may include a table kit depression 1122a in which a portion facing at least a part of the edge portion of the conversion kit 111 is depressed toward one side in the Z-axis direction, thereby completing vacuum suction of the conversion kit 111.
The table kit recessed portion 1122 may have a cross section in the shape of a long hole extending in the longitudinal direction of the conversion kit 111.
The table-use negative pressure transfer plate structure 112a may include a protrusion 1123 protruding toward the other side in the Z-axis direction, the pickup-use negative pressure transfer plate structure 112b may include a protrusion 1123 protruding toward one side in the Z-axis direction, and a hole 1112 into which at least a portion of the protrusion 1123 is inserted may be formed in the conversion kit 111.
In addition, the following description is made of an automatic changing apparatus of a conversion kit (hereinafter referred to as "present apparatus") according to an embodiment of the present invention, which includes the present table module 11 described above and is applied to the present first system. However, in the description of the present apparatus, the same reference numerals are used for the same or similar structures as those described in the above, and the repeated description will be simplified or omitted.
The apparatus comprises the present table module 11.
In addition, the apparatus includes a pickup module that separates the conversion nest 111, which is previously arranged with respect to the table-use negative pressure transfer plate structure 112a, from the table-use negative pressure transfer plate structure 112a, or places a new conversion nest 111 with respect to the table-use negative pressure transfer plate structure 112 a.
The pickup module may include a negative pressure transfer plate structure 112b for the pickup to which the conversion nest 11 is attached at one side in the Z-axis direction. The picker negative pressure transfer plate structure 112b may vacuum-adsorb the conversion kit 111.
The negative pressure transfer plate structure 112b for the picker may include a product recess portion 1121b for the picker, at least a portion of which is a portion opposite to a portion of the conversion kit 111 where the plurality of vacuum holes 1111 are formed, is recessed toward the other side in the Z-axis direction to transfer the action of the negative pressure generated by the negative pressure generator and the release of the negative pressure to the vacuum holes 1111.
In addition, the negative pressure transfer plate structure for pickup 112b may include a kit-for-pickup recess 1122b in which a portion opposite to the edge portion of the conversion kit 111 is recessed toward the other side in the Z-axis direction, thereby completing the suction of the conversion kit 111.
The pickup sleeve recessed portion 1122b may have a cross section in the shape of a long hole formed to extend in the longitudinal direction of the conversion sleeve 111.
In addition, the negative pressure transfer plate structure for pickup 112b may include a protrusion 1126 protruding toward one side in the Z-axis direction, and the negative pressure transfer plate structure for table 112a may include a hole 1116 into which at least a part of the protrusion 1126 is inserted.
The conversion kit 111 may further include a pair of protruding portions 1115 that protrude outward from both side surfaces of the conversion kit 111 and extend in the longitudinal direction of the conversion kit 111. In addition, the negative pressure transmitting plate structure for pickup 112b may include a pair of coupling portions 1125 protruding from both side surfaces of the negative pressure transmitting plate structure for pickup 112b toward one side in the Z-axis direction, respectively, for insertion-coupling a pair of protruding portions 1115.
In addition, the pick-up modules 41, 42, 43 may include a conversion kit 111. Thus, when the conversion kit 111 of the pickup module 41, 42, 43 is not mounted on the pickup negative pressure transmission plate structure 112b (in other words, when the conversion kit 111 is not in a state of being mounted on the pickup negative pressure transmission plate structure 112b in full), the pickup module 41, 42, 43 can be separated from the conversion kit 111 disposed in advance with respect to the table negative pressure transmission plate structure 112b or a new conversion kit 111 can be placed.
The following describes a changeover kit automatic exchange system according to a second embodiment of the present invention, a suction module according to a first embodiment of the present invention, and a suction module according to a second embodiment of the present invention.
For reference, in the following description, referring to fig. 12a for terms related to direction or position (Z-axis one side, Z-axis other side, etc.), with respect to between the first plate 9111a1 and the second plate 9111a2 of the conversion set 9111, a direction toward the first plate 9111a1 is set to the Z-axis one side, a direction toward the second plate 9111a2 is set to the Z-axis other side, the Z-axis one side (Z-axis one side) may be a surface toward the Z-axis one side as set above, the Z-axis other side (Z-axis other side) may be a surface toward the Z-axis other side as set above, and use, arrangement, etc. according to an embodiment of the present invention, which may be arranged with the Z-axis one side toward the upper side or the lower side. In the description of the embodiments of the present invention, the upper side and the lower side in terms of the direction or the position are set based on the arrangement state of each configuration shown in the drawings. For example, when viewing fig. 11 to 20, the 12 o 'clock direction may be the upper side as a whole and the 6 o' clock direction may be the lower side as a whole.
First, a conversion kit automatic exchange system (hereinafter referred to as "present second system") according to a second embodiment of the present invention is explained. However, in the description of the second system, the description overlapping the above description and the description of the first adsorption module and the second adsorption module described later is simplified or omitted.
With reference to fig. 1 and 2, the present second system comprises a package cutting device 1 for cutting the strip into packages. The package cutting apparatus 1 may include the adsorption module 911. The suction module 911 of the package cutting apparatus 1 of the present second system may be the same as, similar to, or corresponding to the table module 11 of the package cutting apparatus 1 of the present first system described above. Thus, as described above, the strip transferred to the adsorption module 911 of the package cutting apparatus 1 may be cut into individual packages by a blade (not shown). For example, the tape may be mounted on the adsorption module 911, and may be cut in a mounted state.
Referring additionally to fig. 1 and 2, the present second system includes a drying apparatus 2 for drying the package. The drying device 2 may be the same as, similar to, or corresponding to the drying device 2 of the present first system, and thus detailed description is omitted.
Referring additionally to fig. 1 and 2, the second system includes a vision station 3 with a package disposed thereon. The vision table 3 of the present second system may be the same as, similar to, or corresponding to the vision table 3 of the present first system described above, and therefore, detailed description thereof is omitted.
In addition, referring to fig. 1 and 2, the present second system includes a pickup portion 4 that adsorbs a tape or package and transfers between the package cutting device 1, the drying device 2, and the vision table 3. Further, referring to fig. 1, the pickup 4 may include a first pickup 41, a second pickup 42, and a third pickup 43. The pickup unit 4 is disposed on the other side of the z-axis of the package dicing apparatus 1, the drying apparatus 2, and the vision stage 3. It may be indicated that the first pickup device 41, the second pickup device 42, and the third pickup device 43 are disposed at the other side of the z-axis of the package cutting device 1, the drying device 2, and the vision stage 3.
For reference, the picking part 4 of the present second system may be the same as, similar to or corresponding to the picking apparatus 4 of the present first system, and each of the first picking apparatus 41, the second picking apparatus 42 and the third picking apparatus 43 of the present second system may be the same as, similar to or corresponding to each of the first to third picking modules 41, 42, 43 of the present first system.
Thus, in order to correspond to each of the first picking module 41, the second picking module 42 and the third picking module 43 of the above-described present first system, in the present second system, the first picking device 41 may transfer the tape supplied by the handling device (not shown) to the package cutting device 1, the second picking device 42 may transfer the package from the package cutting device 1 to the drying device 2, and the third picking device 43 may transfer the package from the drying device 2 to the vision table 3.
The package cutting device 1, the drying device 2, the vision table 3, and the pickup unit 4 each include an adsorption module 911 for adsorbing a package. In addition, the adsorption module 911 may include a conversion kit 9111 and a negative pressure transfer plate structure 9112 to which the conversion kit 9111 is mounted. For reference, the suction module 911 of each of the package cutting apparatus 1, the drying apparatus 2, and the vision table 3 may be the same as, similar to, or corresponding to the table module 11 of the present first system, and the suction module 911 of the pickup portion 4 may be the same as, similar to, or corresponding to the configuration including the negative pressure transfer plate structure 9112b for a pickup and the conversion set 9111 of the present first system. Therefore, detailed description of the number, the role, and the like of the suction modules 911 of each of the package cutting apparatus 1, the drying apparatus 2, and the vision table 3 will be omitted.
Referring to fig. 11 together with fig. 12a, the adsorption module 911 may include a conversion kit 9111 having a plurality of vacuum holes 91111 formed in a Z-axis direction. The tape or package placed on the adsorption module 911 may be placed on the conversion kit 9111. For example, referring to fig. 12a and 12b together, the conversion kit 9111 can include a first panel 9111a1 and a second panel 9111a2, and the vacuum orifices 91111 can include: a first tube portion 911111 formed to penetrate the first plate 9111a1 in the Z-axis direction; and a second tube portion 911112 extending from the first tube portion 911111 and formed to penetrate the second plate 9111a2 in the Z-axis direction.
Further, referring to fig. 11 to 13, the adsorption module 911 may include a negative pressure transfer plate structure 9112. The negative pressure transfer plate structure 9112 can be configured to attract the conversion set 9111 in communication with a negative pressure generator (not shown, e.g., on the other z-axis side of the negative pressure transfer plate structure 9112) and the plurality of vacuum holes 91111 of the conversion set 9111.
In addition, referring to fig. 11 to 13 together, a conversion set 9111 may be disposed on one surface of the negative pressure transmitting plate structure 9112 in the Z-axis direction, and the negative pressure transmitting plate structure 9112 may communicate a negative pressure generator (not shown) with the vacuum holes 91111. In addition, referring to fig. 12a and 12b, the negative pressure transfer plate structure 9112 may include product suction connection portions 91121, 911281 and a kit suction portion 91122 formed to form a negative pressure or release the negative pressure to complete suction of the product and the conversion kit 9111. For example, referring to fig. 12b together with fig. 13, the negative pressure transfer plate structure 9112 may include product- suction connection portions 91121, 911281 formed at a portion opposite to the portion of the conversion kit 9111 where the plurality of vacuum holes 91111 are formed, thereby communicating the negative pressure generator with the vacuum holes 91111. The product suction connections 91121, 911281 may transmit the negative pressure effect and release of the negative pressure generated by the negative pressure generator to the vacuum holes 91111. Specifically, although not shown, the negative pressure transfer plate structure 9112 may include a communication port communicating the product adsorption connection portions 91121, 911281 with the negative pressure generator, and the negative pressure generator sucks gas (generates negative pressure), so that the gas in the product adsorption connection portions 91121, 911281 flows into the negative pressure generator side, and thus the gas in the vacuum holes 91111 flows into the negative pressure generator side through the product adsorption connection portions 91121, 911281, and thus negative pressure is formed in the vacuum holes 91111, so that the package or the tape placed on the conversion kit 9111 can be adsorbed. In addition, when the negative pressure generator releases (stops) the generation of the negative pressure, the generation of the negative pressure in the vacuum holes 91111 communicating with the negative pressure generator through the negative pressure transmitting plate structure 9112 is interrupted, and the adsorption of the vacuum holes 91111 can be interrupted.
In addition, referring to fig. 12b together with fig. 13, negative pressure transmitting plate structure 9112 may include a bundle suction portion 91122, which is a portion opposite to at least a portion of the edge portion of conversion bundle 9111, recessed toward the other side in the Z-axis direction, thereby completing vacuum suction of conversion bundle 9111. The negative pressure transmission plate structure 9112 of the suction module 911 in each of the package cutting apparatus 1, the drying apparatus 2, and the vision table 3 has the same, similar, or corresponding structure to the table negative pressure transmission plate structure 112a of the first system, and therefore, a detailed description of the package suction portion 91122 is omitted.
In addition, the negative pressure transmitting plate structure 9112 may include a main body portion 91128 and an edge portion 91129 disposed on one surface of the main body portion 91128 in the z-axis direction, and an adsorption recess portion 911281 may be formed in the main body portion 91128, which is a portion corresponding to a portion where the plurality of vacuum holes 91111 are formed, is recessed toward the other side of the z-axis direction, and communicates with the negative pressure generator. Further, a sleeve suction portion 91122 may be formed in a perforated form penetrating the edge portion 91129 in the z-axis direction, and a communication port (not shown) communicating the negative pressure generator and the sleeve suction portion 91122 may be formed on the other side of the main body portion 91128 in the z-axis direction of the sleeve suction portion 91122. Thus, the negative pressure generator communicating with the communication port can form or release the negative pressure inside the cartridge suction portion 91122. In addition, a connection space 91121 communicating the adsorption recess 911281 and the plurality of vacuum holes 91111 of the conversion kit 9111 may be formed at the rim portion 91129. Thus, the vacuum holes 91111 can communicate with the negative pressure generator through the connection space 91121 and the adsorption recess 911281, thereby forming or releasing the negative pressure.
The adsorption module 911 may be disposed such that the z-axis faces downward or the z-axis faces upward. For example, referring to fig. 1, the suction module 911 of the package cutting apparatus 1, the drying apparatus 2, and the vision table 3 may be disposed such that the z-axis faces upward, and the suction modules 911 (the same as, similar to, or corresponding to the structures of the negative pressure transfer plate structure for pickup 112b and the conversion set 9111 including the above-described first system) of the first to third pickup apparatuses 41, 42, and 43 of the pickup unit 4 may be disposed such that the z-axis faces downward.
Thus, although described later, referring to fig. 11 to 12d, in the package cutting apparatus 1, the drying apparatus 2, and the vision table 3, the conversion set 9111 may be arranged such that the z-axis surface thereof faces upward when the package cutting apparatus, the drying apparatus, and the vision table are mounted as it is. In addition, referring to fig. 15, in the second pickup device 42 and the third pickup device 43, the conversion set 9111 may be arranged such that the z-axis surface thereof faces downward when the conversion set is mounted in full. In addition, referring to fig. 18, in the first pickup device 41, the conversion set 9111 may be arranged such that the z-axis side thereof faces downward when the device is mounted as it is.
In addition, the conversion set 9111 may be mounted (positionally fixed) on the negative pressure transfer plate structure 9112 when the negative pressure transfer plate structure 911 vacuum adsorbs the conversion set 9111. In addition, when the vacuum suction of the conversion set 9111 by the negative pressure transmitting plate structure 9112 is released, the conversion set 9111 may be brought into a state removable from the negative pressure transmitting plate structure.
In addition, the conversion set 9111 may be mounted on the negative pressure transmitting plate structure 9112 so that the z-axis face thereof faces the negative pressure transmitting plate structure 9112 (temporarily mounted state). Alternatively, the conversion kit 9111 may be mounted on the negative pressure transmitting plate structure 9112 so that the z-axis other face thereof faces the negative pressure transmitting plate structure 9112 (formal mounting state). At this time, the adsorption module 911 may adsorb the semiconductor or the tape in a state of being formally mounted on the negative pressure transfer plate structure 9112 for the conversion kit 9111. For example, when the conversion kit 9111 is formally mounted on the negative pressure transmitting plate structure 9112 of the first to third pickers 41, 42, 43, the first to third pickers 41, 42, 43 may be in a state capable of gripping the semiconductor or the tape. In addition, when the conversion kit 9111 is formally mounted on the negative pressure transmitting plate structure 9112 of the package cutting apparatus 1, the drying apparatus 2, and the vision table 3, the suction module 911 of the package cutting apparatus 1, the drying apparatus 2, and the vision table 3 may have a state capable of sucking the package or the tape placed thereon.
In addition, the adsorption module 911 (negative pressure transfer plate structure 9112) may transfer the conversion set 9111 in a state of being temporarily mounted on the negative pressure transfer plate structure 9112. The transfer of the conversion suite 9111 is described in detail below.
In the present system, the pickup unit 4 is disposed or removed in the package cutting apparatus 1, the drying apparatus 2, the vision table 3, and the pickup unit 4, by attaching the conversion kit 9111 for package suction. Specifically, when the conversion set 9111 is not formally mounted on each negative pressure conveyance plate structure 9112, each of the first to third pickers 41, 42, 43 may suck the conversion set 9111 for conveyance. Here, the suction conversion set 9111 may be transferred by removing the conversion set 9111, which is previously configured with respect to the package cutting apparatus 1, the drying apparatus 2, or the vision table 3, or configuring a new conversion set 9111, respectively, by the first to third pickup apparatuses 41, 42, 43.
Specifically, it may be that the first picking apparatus 41 conveys the conversion set 9111 between the handling apparatus and the package cutting apparatus 1, the second picking apparatus 42 conveys the conversion set 9111 between the package cutting apparatus 1 and the drying apparatus 2, and the third picking apparatus 43 conveys the conversion set 9111 between the drying apparatus 2 and the vision table 3.
In addition, when the conversion set 9111 is not formally mounted on the negative pressure transfer plate 9112, the pickup device (one or more of the first to third pickup devices 41, 42, 43) may transfer the conversion set 9111.
Since the arrangement of the conversion kit 9111 by the pickup unit 4 to the negative pressure transmission plate structure (negative pressure transmission plate structure 9112) of the suction module 911 of each of the package cutting apparatus 1, the drying apparatus 2, and the vision table 3 is the same as, similar to, or corresponds to the arrangement of the conversion kit 111 by the pickup unit 4 of the first system to the negative pressure transmission plate structure (negative pressure transmission plate structure 112b for a table) of the table module 11 of each of the package cutting apparatus 1, the drying apparatus 2, and the vision table 3, detailed description thereof will be omitted.
However, for reference, the ninth conversion set 9111, to which the first pickup 41 is mounted, may be prepared such that the z-axis direction is directed one side toward the lower side, in other words, the z-axis direction is directed the other side toward the upper side.
In addition, as described above, the conversion kits 9111 may be prepared in a conversion kit cartridge, and at this time, the first to ninth conversion kits 9111 may be prepared in order to be sequentially picked up, and when prepared in order, the first, second, fourth, fifth, seventh and eighth conversion kits 9111 may be prepared with the Z-axis face directed to the upper side, and the third, sixth and ninth conversion kits 9111 may be prepared with the Z-axis face directed to the lower side.
In addition, the removal of the pre-configuration conversion suite 9111 may also be performed, which is the same as, similar to, or corresponds to the removal process of the pre-configuration conversion suite 111 of the present first system described above, and thus detailed description is omitted.
In addition, according to an embodiment of the present invention, the conversion set 9111 of each of the vision table 3, the drying device 2, the third picking device 43, and the second picking device 42 and the conversion set 9111 of the package cutting device 1 may be of different types from each other. This is because the conversion suite 9111 of each of the vision stage 3, the drying device 2, the third picking device 43, and the second picking device 42 vacuum-grips the individually cut packages, while the conversion suite 9111 of the package cutting device 1 grips the tape before being cut into packages. In contrast, the contents related to the present first system are explained, and thus detailed description is omitted.
When the conversion set 9111 of the package cutting apparatus 1, the drying apparatus 2, and the vision table 3 apparatus is transferred instead of the conversion set 9111 mounted on the pickup apparatus, the pickup apparatus may grip the conversion set 9111 to transfer so that the Z-axis face of the conversion set 9111 faces the negative pressure transfer plate structure 9112 of the pickup apparatus.
When the conversion kit 9111 is disposed in advance, vacuum suction may be released at the kit suction portion 91122 of the negative pressure transmission plate structure 9112 where the conversion kit 9111 is disposed, and vacuum may be applied to the kit suction portion 91122 of the negative pressure transmission plate structure 9112 of the pickup device which picks up the conversion kit 9111 which needs to be removed, thereby enabling vacuum suction.
In addition, the first to third pickers 41, 42, 43 may include a conversion kit 9111. Thus, when it is a state that the conversion set 9111 of the first to third pickup apparatuses 41, 42, 43 is not mounted on the negative pressure transmitting plate structure 9112 of the first to third pickup apparatuses 41, 42, 43 (in other words, a state that the conversion set 9111 is not formally mounted on the negative pressure transmitting plate structure 9112), the first to third pickup apparatuses 41, 42, 43 can separate the conversion set 9111 previously arranged with respect to the negative pressure transmitting plate structure 9112 of the package cutting apparatus 1, the drying apparatus 2, and the vision table 3, or place a new conversion set 9111.
Referring to fig. 11 to 13, 15, and 16, the adsorption module 911 includes a jig 9113 capable of holding the conversion kit 9111. Specifically, the clamp 9113 is provided on one side (one face) of the z-axis direction of the negative pressure transmitting plate structure 9112 so that the conversion set 9111 can be clamped in the basic state. Here, the base state of the gripper 9113 (or the base state of the gripper units 91131) may be a state in which the gripper units 91131 stand upright in the Z-axis direction, as shown in fig. 12 c. Although the holder unit 91131 may have an outer-side moving state, which is not illustrated in the drawings, the outer-side moving state may refer to a state in which one side portion of the holder unit 91131 in the z-axis direction moves outward and the holder unit 91131 rotates about the hinge 91132 in the upright state of the holder unit 91131 illustrated in fig. 12c, referring to fig. 12 c.
Specifically, referring to fig. 12c, the jig 9113 may include a jig unit 91131, at least a portion of which is protrudingly provided toward one surface of the z-axis direction of the negative pressure transmitting plate structure 9112, formed with a protrusion 911319 protruding inward toward the portion where the conversion suite 9111 is arranged. The gripper unit 91131 may have a hook shape. In addition, a recess 91119 for coupling the protrusion 911319 of the gripper unit 91131 may be formed on the outer face of the conversion kit 9111. The protrusion 911319 of the gripper unit 91131 is snap-coupled to the recess 91119 so that the gripper unit 91131 can grip the conversion kit 9111.
In addition, referring to fig. 12c, the gripper 9113 may include a hinge unit 91132 that enables the gripper unit 91131 to rotate about the longitudinal direction of the negative pressure transmitting plate structure 9112 as an axis. The gripper unit 91131 can be rotated by the hinge unit 91132, whereby the end portion of the gripper unit 91131 facing the z-axis direction can be moved outward from the state of gripping the conversion set 9111 to be away from the conversion set 9111. Thereby, the clampable state of the gripper unit 91131 can be switched to the unclamped state.
In addition, referring to fig. 12c and 12d, the gripper 9113 may include an elastic member 91133 that provides an external force to the gripper unit 9113 toward the inside (a direction toward the conversion set 9111). The elastic member 91133 may be disposed in a state of being compressed on an outer face (a face facing in an opposite direction (outer side) to the direction toward the conversion set 9111) of the gripper unit 9113, so as to be elastically movable. Thus, when the holder unit 91131 rotates by a predetermined angle, the elastic members 91133 provide elastic restoring force to the holder unit 91131, so that an external force toward the inside can act on the holder unit 91131.
That is, referring to fig. 12c, when the gripper unit 91131 is in the base state, the protrusion 911319 can be engaged and coupled with the recess 91119, and can grip the conversion set member 9111, and when an external force in the outside direction acts on the gripper unit 91131, the gripper unit 91131 rotates via the hinge unit 91132, and the portion of the gripper unit 91131 facing the z-axis direction side (i.e., the portion where the protrusion 911319 is formed) moves to the outside, and thus has an outside movement state, and when in the outside movement state, the engagement and coupling with the conversion set member 9111 can be released, and thus can have a grip release state. Further, when the holder unit 91131 moves outward, the elastic members 91133 located on the outer surface of the holder unit 91131 are compressed in the outward direction, and therefore, an inward external force acts on the holder unit 91131 via the elastic members 91133, and thus, when the outward external force to the holder unit 91131 becomes equal to or less than the inward external force by the elastic members 91133, the holder unit 91131 can return to the base state.
For reference, referring to fig. 12c and 12d, an accommodating recess 911311 accommodating at least a portion of the elastic member 91133 may be formed at an outer face of the gripper unit 91131. Thereby, the elastic member 91133 can be stably moved.
On the one hand, the action of the external force toward the outside of the gripper unit 91131 can be accomplished as follows.
Referring to fig. 11 to 13, 15, and 16, the suction module 911 may include a protrusion portion 9114 protruding on one surface of the negative pressure transmitting plate structure 9112 in the z-axis direction to guide the adjacent jig 9113 of the adjacent suction module 911 in the outside moving state, the adjacent suction module 911 being adjacent in the z-axis direction to face the suction module 911.
First, the adjacent jigs 9113 are explained. The adsorption module 911 of at least one of the first pickup device 41, the second pickup device 42, and the third pickup device 43 may be relatively adjacent to the adsorption module 911 of at least one of the package cutting device 1, the drying device 2, and the vision table 3 in the z-axis direction. For example, in the case where the first pickup device 41 may be adjacently disposed in the z-axis direction such that one surface of the suction module 911 faces one surface of the suction module 911 of the package dicing device 1, each of the suction module 911 of the first pickup device 41 and the suction module 911 of the package dicing device 1 may be an adjacent suction module 911 to each other. In addition, in the case where the second pickup device 42 may be adjacently disposed in the z-axis direction such that one surface of the suction module 911 faces one surface of the suction module 911 of the package dicing device 1, each of the suction module 911 of the second pickup device 42 and the suction module 911 of the package dicing device 1 may be an adjacent suction module 911 to each other. In addition, in the case where the second pickup device 42 may be adjacently disposed in the z-axis direction so that one surface of the suction module 911 faces one surface of the suction module 911 of the drying device 2, each of the suction module 911 of the second pickup device 42 and the suction module 911 of the drying device 2 may be an adjacent suction module 911 to each other. In addition, in the case where the third pickup device 43 may be adjacently disposed in the z-axis direction so that one surface of the suction module 911 faces one surface of the suction module 911 of the drying device 2, each of the suction module 911 of the third pickup device 43 and the suction module 911 of the drying device 2 may be an adjacent suction module 911 to each other. In addition, in the case where the third pickup device 43 may be adjacently disposed in the z-axis direction so that one surface of the suction module 911 faces one surface of the suction module 911 of the vision table 3, each of the suction module 911 of the third pickup device 43 and the suction module 911 of the vision table 3 may be an adjacent suction module 911 to each other.
Thus, the pickup unit 4 may be disposed such that the suction module 911 thereof faces the suction module 911 of each of the package dicing apparatus 1, the drying device 2, and the vision table 3, and may be such that the suction module 911 of at least one of the first pickup 41, the second pickup 42, and the third pickup 43 and at least one of the suction modules 911 of each of the package dicing apparatus 1, the drying device 2, and the vision table 3 are adjacently disposed in the z-axis direction as described above.
In addition, the protruding portions 9114 may be formed at positions corresponding to the gripper units 91131 of the adjacent gripper 9113 in the z-axis direction. It may mean that, when the suction module 911 and the adjacent suction module 911 are opposed to each other in the z-axis direction, the protruding portion 9114 is formed to be opposed to the gripper unit 91131 of the adjacent suction module 911. Thus, the adsorption module 911 and the adjacent adsorption module 911 may have the same or corresponding structures to each other, but when the adsorption module 911 and the adjacent adsorption module 911 are opposite to each other toward the Z axis, the protrusion 91114 and the gripper unit 91131 of the adsorption module may be formed offset from the protrusion 9114 and the gripper unit 91131 of the adjacent adsorption module such that the protrusion 91114 of the adsorption module 911 is opposite to the gripper unit 91131 of the adjacent adsorption module 911, and the gripper unit 91131 of the adsorption module 911 is opposite to the protrusion 9114 of the adjacent adsorption module 911. For reference, as described above, the adsorption module 911 of the first to third pickup devices 41, 42, 43 and the adsorption module 911 of the package cutting device 1, the drying device 2, and the vision table 3 may each become an adjacent adsorption module 911 to each other.
Further, referring to fig. 13 and 16, a guide groove 911312 may be formed at an inner portion of the protrusion 911319 of the gripper unit 91131 to guide the adjacent suction module 911 to enter the inside of the protrusion 9114. In addition, the projections 9114 may have a wedge shape. Thus, when the adsorption module 911 and the adjacent adsorption module 911 approach each other in the z-axis direction while facing each other, it may be that the protrusion 911 of the adjacent adsorption module 911 enters the guide groove 911312, the protrusion 9114 enters the guide groove 911312 of the gripper unit 91131 of the adjacent adsorption module 911, thus, as the suction module 911 and the adjacent suction module 911 approach each other by ascending and descending, the amount of entry of the protruding portion 911 of the adjacent suction module 911 into the inside of the gripper unit 91131 of the suction module 911 increases, thereby, the holder unit 91131 moves outward by the contact of the projecting portion 9114 of the adjacent suction module 911 with the inner surface inclined surface of the guide groove 911312 of the suction module 911, and as the amount of entry of the projecting portion 9114 of the suction module 911 into the holder unit 91131 of the suction module 911 increases, the gripper unit 91131 of the adjacent suction module 911 may also move outward by the contact of the protrusion portion 9114 of the suction module 911 with the inner surface inclined surface of the guide groove 911312 of the adjacent suction module 911. Thus, the gripper 9113 of the suction module 911 and the gripper 9113 of the adjacent suction module 911 can be released from gripping.
Accordingly, when the second and third pickers 42 and 43 come into contact with the package cutting device 1, the drying device 2, and the vision table 3 in order to dispose or remove the conversion set 9111 from the negative pressure transmission plate structure 9112 of the package cutting device 1, the drying device 2, and the vision table 3, the clamp units 91131 of the second and third pickers 42 and 43, the package cutting device 1, the drying device 2, and the vision table 3 are in an outward moving state, and thus the conversion set 9111 can be disposed and removed.
Alternatively, according to another embodiment of the present invention, referring to fig. 20, the outward-side state movement of the gripper unit 91131 may be performed by a cylinder 9116. Specifically, referring to fig. 20, an extension portion 911318 extending inward may be formed on the other z-axis side of the gripper unit 91131, and an air cylinder 9116 may be provided on the other z-axis side of the extension portion 911318. The air cylinder 9116 is driven in the z-axis direction, and when the air cylinder 9116 moves toward the z-axis side to apply an external force toward the z-axis side to the extension portion 911318, at least a part of the extension portion 911318 moves toward the z-axis side, and the gripper unit 91131 rotates, so that it can be shifted to the outside moving state.
Thus, when the first picking apparatus 41 picks up the conversion set 9111 from the loading and unloading apparatus or the package cutting apparatus 1, the gripper unit 91131 becomes an outside moving state, and thus the conversion set 9111 can be vacuum-sucked, and when the first picking apparatus 41 places the conversion set 9111 to the loading and unloading apparatus, the gripping of the conversion set 9111 by the gripper 9113 of the first picking apparatus 41 is released by the air cylinder, so that the placement of the conversion set 9111 can be completed, and when the first picking apparatus 41 places the conversion set 9111 to the package cutting apparatus 1, the gripping of the conversion set 9111 by the gripper 9113 of the first picking apparatus 41 is released by the air cylinder, and the gripper 9113 of the package cutting apparatus 1 is converted into an outside moving state by the projection 9114 of the first picking apparatus 41, so that the conversion set 9111 can be placed in the package cutting apparatus 1.
When the conversion suite 9111 is placed or removed from the negative pressure transmission plate structure 9112 of the package cutting apparatus 1, the drying apparatus 2, and the vision table 3 and is brought close to the package cutting apparatus 1, the drying apparatus 2, and the vision table 3, the second and third pickup apparatuses 42 and 43, the package cutting apparatus 1, the drying apparatus 2, and the clamp unit 91131 of the vision table 3 are in an outside moving state, and thus the conversion suite 9111 can be disposed or removed.
In addition, for example, in the suction modules 911 of the package cutting apparatus 1, the drying apparatus 2, the vision table 3, the second picker 42, and the third picker 43, the outside moving state of the gripper unit 91131 may be guided by the protruding portion 91114 of the adjacent suction module 911. In addition, in the adsorption module 911 of the first pickup device 41, the gripper unit 91131 may be guided in the outside movement state by the air cylinder 9116. This is because the first picking apparatus 41 can pick up the conversion kit 9111 from the handling apparatus, but it is difficult to form the protruding portion 9114 on a guide rail (not shown) that takes out and sets the conversion kit 9111 from the handling apparatus.
Further, referring to fig. 12 and 16, the negative pressure transmitting plate structure 9112 may include a plurality of first protrusions 91123 protruding toward one side in the Z-axis direction. In addition, when comparing fig. 12 and 16, the first protrusion 91123 of the negative pressure transmitting plate structure 9112 of the first to third pickup devices 41, 42, 43 and the first protrusion 91123 of the negative pressure transmitting plate structure 9112 of the package cutting device 1, the drying device 2, and the vision table 3 may be formed at different positions from each other. For example, the first protrusion 91123 may be formed on the negative pressure transfer plate structure 9112 of each of the first to third pickup devices 41, 42, 43, the package cutting device 1, the drying device 2, and the vision table 3 such that a line connecting the pair of first protrusions 91123 of the negative pressure transfer plate structure 9112 of the first to third pickup devices 41, 42, 43 and a line connecting the pair of first protrusions 91123 of the negative pressure transfer plate structure 9112 of the package cutting device 1, the drying device 2, and the vision table 3 are offset from each other. Referring to fig. 11 and 15, a plurality of holes 91112 may be formed in the conversion kit 9111 for inserting at least a portion of the first protrusion 91123. The holes 91112 may be formed at positions corresponding to the pair of first protrusions 91123 of the negative pressure transmitting plate structure 911 of the first to third pickup devices 41, 42, 43 and the pair of first protrusions 91123 of the negative pressure transmitting plate structure 9112 of the package cutting device 1, the drying device 2 and the vision table 3, respectively. Thus, the holes 91112 may be formed in 4, and when the negative pressure transfer plate structure 9112 of the first to third pickup devices 41, 42, 43 is approached for placing or picking up the conversion kit 9111 to the negative pressure transfer plate structure 9112 of the package cutting device 1, the drying device 2, and the vision table 3, the two pairs of first protrusions 91123 may be inserted into the 4 holes 91112, respectively. The conversion kit 9111 can have a positive position and be clamped or even placed (configured) at the negative pressure transmitting plate structure 9112 by the engagement of the first protrusion 91123 and the hole 91112. In addition, as a reference, the hole 91112 may be formed in a form penetrating in the z-axis direction, or may be formed in a groove form recessed from the outside to the inside of the conversion suit 9111 at the edge.
In addition, referring to fig. 15 and 18, the negative pressure transmitting plate structure 9112 of the first to third pickup devices 41, 42, 43 may include a second protrusion 91126 protruding toward one side of the Z-axis direction. In addition, referring to fig. 11 and 13, the negative pressure transmitting plate structure 911 of the package cutting apparatus 1, the drying apparatus 2, and the vision table 3 may include a hole 91116 into which at least a portion of the second protrusion 91126 is inserted. Thus, when the first to third picking apparatuses 41, 42, 43 configure the conversion suit 9111 with respect to the adsorption module 911 or when the first to third picking apparatuses 41, 42, 43 load a plurality of packages on the conversion suit 9111 of the package cutting apparatus 1, the drying apparatus 2 and the vision table 3, the negative pressure transmitting plate structure 9112 of the first to third picking apparatuses 41, 42, 43 may be guided to a right position and configured by the insertion of the second protrusions 91126 and the holes 91116, and the conversion suit 9111 may be placed on the negative pressure transmitting plate structure 9112 of the package cutting apparatus 1, the drying apparatus 2 and the vision table 3 or the plurality of packages may be accurately placed on the conversion suit 9111 of the package cutting apparatus 1, the drying apparatus 2 and the vision table 3.
As described above, in the second system, the conversion set 9111 is mounted on the negative pressure transfer plate structure 9112 by vacuum adsorption of the negative pressure transfer plate structure 9112 to automatically replace the conversion set 9111, the detachable state of the conversion set 9111 and the negative pressure transfer plate structure 911 can be automatically formed by adjusting whether or not vacuum adsorption is formed, when the vacuum adsorption is released and the detachable state is formed, the vacuum adsorption conversion set 9111 can be removed by the pickup device, the conversion set 9111 can be placed in the pickup device, and when a new conversion set 9111 is placed on the negative pressure transfer plate structure 9112, vacuum adsorption can be performed again, so that the conversion set 9111 is automatically and fixedly mounted on the negative pressure transfer plate structure 9112.
In addition, the adsorption module 911 of the second system includes a jig 9113 which physically clamps the conversion kit 9111 and releases the clamping by the protrusion 9114 of the adjacent adsorption module 911 when approaching the adjacent adsorption module 911 in the Z-axis direction, thereby improving the coupling force between the negative pressure transmission plate structure 9112 and the conversion kit 9111, and when the conversion kit 9111 is disposed or removed with respect to the negative pressure transmission plate structure 9112, the clamping of the conversion kit 9111 may be released, thereby removing the conversion kit 9111. Thereby, even if the vacuum suction is interrupted due to an unexpected problem, the conversion kit 9111 can be prevented from being accidentally detached from the negative pressure transmitting plate structure 9112.
In addition, in the case where the conversion set 9111 is not held by the jig 9113, there may occur a problem that the conversion set 9111 is lifted or moved on the negative pressure transfer plate structure 9112 when blowing air is supplied to the inside of the vacuum holes, and according to the present first adsorption module, since the conversion set 9111 is held by the jig 9113 to be fixed on the negative pressure transfer plate structure 9112, it is possible to prevent the above problem from occurring.
In addition, according to an embodiment of the present invention, the conversion suite 9111 may be marked with identification information to identify information related to the conversion suite 9111 (for example, size information of a package placement portion of the conversion suite 9111 according to a package size, a kind of the conversion suite 9111 suitable for each table module), the first pickup module 41 may be provided with a sensor for scanning the identification information, the first pickup module 41 may determine that the conversion suite 9111 taken out from the handling apparatus is a proper conversion suite 9111 by scanning of the sensor, the conversion suite 9111 may be picked up, and if the conversion suite 9111 is not proper, the pickup may be stopped.
In addition, as described above, the conversion set 9111 may pick up the conversion set 9111 taken out from the handling apparatus and placed on the guide rails (not shown), and when the conversion set 9111 is placed on the guide rails at an angle shifted from the normal position, the first picking module 41 may rotate to pick up the conversion set 9111 arranged at the shifted angle, thereby transferring the conversion set 9111 to have the normal position.
The following describes an adsorption module (hereinafter referred to as "present first adsorption module") according to an embodiment of the present invention applied in the present second system described above. However, in the description of the present first adsorption module, the same reference numerals are used for the same or similar structures as those described in the present second system described above and the second adsorption module described later, and the repeated description will be simplified or omitted.
The present first adsorption module 911 includes a conversion kit 9111 having a plurality of vacuum holes 91111 formed in a Z-axis direction.
In addition, the first adsorption module 911 includes a negative pressure transmitting plate structure 9112. The negative pressure transmitting plate structure 9112 has a conversion kit 9111 disposed on one surface in the Z-axis direction, and vacuum holes 91111 communicating the negative pressure generator with the conversion kit 9111.
In addition, the present first adsorption module 911 includes a jig 9113. At least a part of the jig 9113 is provided to protrude toward the Z-axis direction side of the negative pressure transmitting plate structure 9112, so that the conversion set 9111 can be held in the ground state.
In addition, the present first adsorption module 911 includes a protrusion portion 9114. At least a part of the protruding portion 9114 protrudes toward the Z-axis side of the negative pressure transmitting plate structure 9112, and guides the adjacent jig 9113 of the adjacent adsorption module 911 to an outside moving state. Here, the adjacent adsorption module 911 may refer to an adsorption module 911 adjacent to the Z axis to be opposite to the adsorption module 911. In addition, the protruding portions 9114 may be formed at positions corresponding to the gripper units 91131 of the adjacent adsorption modules 9114.
In addition, the jig 9113 may include a jig unit 91131, at least a portion of which is provided to protrude from one surface of the negative pressure transmitting plate structure 9112 in the z-axis direction, and which is formed with a protrusion 911319 protruding inward toward the portion where the conversion suit 9111 is arranged.
In addition, the jig 9113 may include a hinge unit 91132 that allows the jig unit 91131 to rotate about the longitudinal direction of the negative pressure transmitting plate structure 9112.
In addition, the clamp 9113 may include an elastic member 91133 that provides an external force to the clamp unit 9113 toward the inside (the direction toward the conversion set 9111).
In addition, a recess 91119 may be formed on the outer surface of the conversion kit 9111 to which the protrusion 9111319 of the gripper unit 91131 is coupled. The recessed portion 91119 may be formed to be recessed toward the inside at the outer face (the face toward the outside) of the conversion set 9111. In addition, the recess 91119 may be in the shape of a long hole. Further, a protrusion protruding in the Z-axis direction may be formed at an outer side portion of the recessed portion 91119 so as to be able to catch the protrusion 911319 of the coupling jig unit 91131. The protrusion 911319 of the gripper unit 91131 may be catch-coupled with a protrusion. The gripper unit 91131 may be catch-coupled in the recess 91119 to grip the conversion kit 9111 in the basal state.
In addition, a guide groove 911312 may be formed at an inner portion of the protrusion 911319 of the gripper unit 91131 for guiding the adjacent adsorption module 911 to enter to the inside of the protrusion 9114. In addition, the projections 9114 may have a wedge shape.
Thus, when the adsorption module 911 and the adjacent adsorption module 911 approach each other in the z-axis direction in a state where they face each other, the protrusion 9114 of the adjacent adsorption module 911 may enter the guide groove 911312, and the protrusion 9114 may enter the guide groove 911312 of the gripper unit 91131 of the adjacent adsorption module 911, whereby as the adsorption module 911 and the adjacent adsorption module 911 approach each other, the amount of entry of the protrusion 9114 of the adjacent adsorption module 911 into the inside of the gripper unit 91131 of the adsorption module 911 increases, and thus the gripper unit 91131 moves outward, and as the amount of entry of the protrusion 9114 of the adsorption module 911 into the inside of the gripper unit 91131 of the adjacent adsorption module 911 increases, the gripper unit 91131 of the adjacent adsorption module 911 may also move outward. Thus, the gripper 9113 of the suction module 911 and the gripper 9113 of the adjacent suction module 911 can be released from gripping. Further, when the holder unit 91131 moves outward, the elastic members 91133 located on the outer surface of the holder unit 91131 can be compressed by an outward external force, and an inward external force can act on the holder unit 91131 by the elastic restoring force of the elastic members 91133, whereby the holder unit 91131 can be restored to the original position to the base state by the external force applied by the elastic members 91133 when the outward external force to the holder unit 91131 becomes equal to or less than the inward external force by the elastic members 91133.
In addition, in the present first adsorption module 911, the negative pressure transfer plate structure 9112 may vacuum adsorb the conversion kit 9111.
As described above, this first adsorption module makes the conversion suite 9111 install on the negative pressure transfer plate structure 9112 through the vacuum adsorption of negative pressure transfer plate structure 9112 in order to accomplish the replacement of the conversion suite 9111 automatically, can adjust whether to form the detachable state that vacuum adsorption comes to form conversion suite 9111 and negative pressure transfer plate structure 9112 automatically, when removing vacuum adsorption and become the detachable state, can get rid of through pickup apparatus vacuum adsorption conversion suite 9111, pickup apparatus can place conversion suite 9111, when placing new conversion suite 9111 on negative pressure transfer plate structure 9112, vacuum adsorption is carried out again, thereby can be on negative pressure transfer plate structure 9112 automatic fixed mounting conversion suite 9111.
Further, the first adsorption module includes a clamp 9113 which physically clamps the conversion kit 9111 and releases the clamping by the protruding portion 9114 of the adjacent adsorption module 911 when approaching the adjacent adsorption module 911 in the Z-axis direction, thereby improving the coupling force between the negative pressure transmission plate structure 9112 and the conversion kit 9111, and when the conversion kit 9111 is disposed or removed with respect to the negative pressure transmission plate structure 9112, the clamping of the conversion kit 9111 can be released, thereby removing the conversion kit 9111. Thereby, even if the vacuum suction is interrupted due to an unexpected problem, the conversion kit 911 can be prevented from being accidentally dropped from the negative pressure transmitting plate structure 9112.
In addition, in the case where the conversion set 9111 is not held by the jig 9113, there may occur a problem that the conversion set 9111 is lifted or moved on the negative pressure transfer plate structure 9112 when blowing air is supplied to the inside of the vacuum holes, and according to the present first adsorption module, since the conversion set 9111 is held by the jig 9113 and fixed on the negative pressure transfer plate structure 9112, it is possible to prevent the above problem from occurring.
As described above, the first adsorption module 911 may be applied to the second picking apparatus 42, the third picking apparatus 43, the package cutting apparatus 1, the drying apparatus 2, and the adsorption module 911 of the vision table 3 of the conversion kit automatic exchange system according to an embodiment of the present invention.
In addition, the present invention provides a pickup apparatus according to an embodiment of the present invention including the adsorption module 911 according to the first embodiment of the present invention described above. The pickup device according to an embodiment of the present invention may be applied to the second pickup device 42 and the third pickup device 43 of the conversion kit automatic exchange system according to an embodiment of the present invention. In this regard, the explanation is made above, and thus a detailed description is omitted.
In addition, the present invention includes a table part according to an embodiment of the present invention, which includes the adsorption module 911 according to the first embodiment of the present invention described above. The table section according to an embodiment of the present invention can be applied to the package cutting device 1, the drying device 2, and the vision table 3 of the first or second system of the present invention. In this regard, the explanation is made above, and thus a detailed description is omitted.
A description is given below of a adsorption module according to a second embodiment of the present invention (hereinafter referred to as "present second adsorption module") applied in the present system described above. However, in the description of the present second adsorption module, the same reference numerals are used for the same or similar structures as those described in the present second system and the present first adsorption module described above, and the repeated description will be simplified or omitted.
The second adsorption module 911 includes a conversion kit 9111 having a plurality of vacuum holes 91111 formed in a Z-axis direction.
In addition, the present second adsorption module 911 includes a negative pressure transfer plate structure 9112. The negative pressure transmitting plate structure 9112 has a conversion kit 9111 disposed on one surface in the Z-axis direction, and vacuum holes 91111 communicating the negative pressure generator with the conversion kit 9111.
In addition, the present second adsorption module 911 includes a jig 9113. At least a part of the jig 9113 is provided to protrude toward the Z-axis direction side of the negative pressure transmitting plate structure 9112, so that the conversion set 9111 can be held in the ground state.
In addition, the second adsorption module 911 includes a protruding portion 9114. At least a part of the protruding portion 9114 protrudes toward the Z-axis side of the negative pressure transmitting plate structure 9112, and guides the adjacent jig 9111 of the adjacent adsorption module 911 to an outside moving state. Here, the adjacent adsorption module 911 may refer to an adsorption module 911 adjacent to the Z axis to be opposite to the adsorption module 911. The projections 9114 can have a wedge shape.
Thus, when the suction module 911 and the adjacent suction module 911 come close to each other in the z-axis direction in a state where they face each other, the protrusion 9114 of the adjacent suction module 911 may enter the guide groove 911312 and the protrusion 9114 may enter the guide groove 911312 of the gripper unit 91131 of the adjacent suction module 911, and thus, as the suction module 911 and the adjacent suction module 911 come close to each other, the amount of entry of the protrusion 9114 of the suction module 911 into the inside of the gripper unit 91131 of the adjacent suction module 911 increases, and thus the gripper unit 91131 of the adjacent suction module 911 may also move toward the outside. Thus, the gripper 9113 of the adjacent suction module 911 can be released from gripping.
In addition, the jig 9113 may include a jig unit 91131, at least a portion of which is provided to protrude from one surface of the negative pressure transmitting plate structure 9112 in the z-axis direction, and which is formed with a protrusion 911319 protruding inward toward the portion where the conversion suit 9111 is arranged.
In addition, a recess 91119 may be formed on the outer surface of the conversion kit 9111 to which the protrusion 9111319 of the gripper unit 91131 is coupled. The recessed portion 91119 may be formed to be recessed toward the inside at the outer face (the face toward the outside) of the conversion set 9111. In addition, the recess 91119 may be in the shape of a long hole. Further, a protrusion protruding in the Z-axis direction may be formed at an outer side portion of the recessed portion 91119 so as to be able to catch the protrusion 911319 of the coupling jig unit 91131. The protrusion 911319 of the gripper unit 91131 may be catch-coupled with a protrusion. The gripper unit 91131 may be catch-coupled in the recess 91119 to grip the conversion kit 9111 in the basal state.
In addition, the jig 9113 may include a hinge unit 91132 that allows the jig unit 91131 to rotate about the longitudinal direction of the negative pressure transmitting plate structure 9112. The gripper 9113 may have an outside moving state or a base state by rotation of the gripper unit 91131.
In addition, in the present second adsorption module 911, the jig 9113 may include a cylinder 9116 guiding the outside movement state. Specifically, an extension portion extending inward may be formed on the other z-axis side of the jig unit 91131, and the cylinder 9116 may be provided on the other z-axis side of the extension portion. The air cylinder 9116 is driven in the z-axis direction, and when the air cylinder 9116 moves toward the z-axis side to apply an external force toward the z-axis side to the extension portion, at least a part of the extension portion moves toward the z-axis side, and the gripper unit 91131 rotates, so that it can be shifted to the outside moving state.
In addition, the clamp 9113 may include an elastic member 91133 that provides an external force to the clamp unit 9113 toward the inside (the direction toward the conversion set 9111). When the holder unit 91131 moves outward, the elastic members 91133 located on the outer surface of the holder unit 91131 can be compressed by an outward external force, and an inward external force can act on the holder unit 91131 by the elastic restoring force of the elastic members 91133, whereby the holder unit 91131 can be restored to the original position to the basic state by the external force applied by the elastic members 91133 when the outward external force to the holder unit 91131 becomes equal to or less than the inward external force by the elastic members 91133.
That is, the gripper unit 91131 can be rotated by an external force applied by the air cylinder 9116, and the end portion on one side in the Z-axis direction moves outward to be in an outward moving state, and at this time, the elastic member 91133 can be compressed by an outward external force due to the outward movement of the gripper unit 91131, and an inward external force can be applied to the gripper unit 91131. Further, when the external force toward the outside with respect to the gripper unit 91131 becomes equal to or less than the external force toward the inside by the elastic member 91133, the gripper unit 91131 can be restored to the original position to the base state by the external force applied by the elastic member 91133.
On the one hand, the protruding portions 9114 may be formed at positions corresponding to the gripper units 91131 of the adjacent adsorption modules 911. In addition, the gripper units 91131 may be formed at positions corresponding to the protruding portions of the adjacent adsorption modules 911. Thus, when the second suction module 911 and the adjacent suction module 911 come close to each other in the Z-axis direction, the projecting portion 9114 can enter the inside of the gripper unit (the gripper unit 91131 of the adjacent suction module 911) and apply an external force to the adjacent gripper unit 91131 toward the outside. More specifically, the protrusion portion 9114 may enter toward the inside of the adjacent holder unit 91131 through the guide groove of the adjacent holder unit 91131, apply an external force to the adjacent holder unit 91131, and open between the end portion of the adjacent holder unit 91131 in the Z-axis direction and the conversion set 9111, thereby converting the adjacent holder unit 91131 into the outside moving state.
On the other hand, as described above, in the present second adsorption module 911, the switching of the outward movement state of the gripper unit 91131 can be performed by the air cylinder 9116, and therefore, when the gripper unit 91131 is formed with the accommodating portion 911315 that can accommodate the protruding portion 9114 so that the present second adsorption module 911 and the adjacent adsorption module 911 approach in the Z-axis direction, the gripper unit 91131 and the protruding portion 9114 of the adjacent adsorption module 911 may not interfere with each other. Thus, even when the second suction module 911 and the adjacent suction module 911 come close to each other in the Z-axis direction, the gripper unit 91131 is not shifted to the outside moving state by the protruding portion 9114 of the adjacent suction module 911.
In addition, in the present second adsorption module 911, the negative pressure transfer plate structure 9112 may vacuum adsorb the conversion set 9111.
As described above, this second adsorption module makes the conversion suite 9111 install on the negative pressure transfer plate structure 9112 through the vacuum adsorption of negative pressure transfer plate structure 9112 in order to accomplish the replacement of the conversion suite 9111 automatically, can adjust whether to form the detachable state that vacuum adsorption comes to form conversion suite 9111 and negative pressure transfer plate structure 9112 automatically, when removing vacuum adsorption and become the detachable state, can get rid of through pickup apparatus vacuum adsorption conversion suite 9111, pickup apparatus can place conversion suite 9111, when placing new conversion suite 9111 on negative pressure transfer plate structure 9112, vacuum adsorption restarts again, thereby can be on negative pressure transfer plate structure 9112 automatic fixed mounting conversion suite 9111.
In addition, the second adsorption module includes a clamp 9113 which physically clamps the conversion kit 9111 and releases the clamping by the protruding portion 9114 of the adjacent adsorption module 911 when approaching the adjacent adsorption module 911 in the Z-axis direction, thereby improving the coupling force between the negative pressure transmission plate structure 9112 and the conversion kit 9111, and when the conversion kit 9111 is disposed or removed with respect to the negative pressure transmission plate structure 9112, the clamping of the conversion kit 9111 can be released, thereby removing the conversion kit 9111. Thereby, even if the vacuum suction is interrupted due to an unexpected problem, the conversion kit 911 can be prevented from being accidentally dropped from the negative pressure transmitting plate structure 9112.
In addition, in the case where the conversion set 9111 is not held by the jig 9113, there may occur a problem that the conversion set 9111 is lifted or moved on the negative pressure transfer plate structure 9112 when blowing air is supplied to the inside of the vacuum holes, and according to the present first adsorption module, since the conversion set 9111 is held by the jig 9113 to be fixed on the negative pressure transfer plate structure 9112, it is possible to prevent the above problem from occurring.
In addition, the present invention provides a pickup apparatus according to an embodiment of the present invention including the above-described adsorption module 911 according to the second embodiment of the present invention. The pickup device according to an embodiment of the present invention may be applied as the first pickup device 41 of the conversion kit automatic exchange system according to an embodiment of the present invention. In this regard, the explanation is made above, and thus a detailed description is omitted.
The above description of the present invention is for illustrative purposes, and those skilled in the art will appreciate that the present invention may be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. It is therefore to be understood that the above described embodiments are by way of example and not by way of limitation in all respects. For example, each component described as a single type may be dispersed and implemented, and similarly, the components described as dispersed may be implemented in a combined form.
The scope of the present invention is defined by the claims rather than the specific embodiments, and all modifications and variations derived from the meaning and scope of the claims and equivalent concepts thereof are included in the scope of the present invention.

Claims (11)

1. A table module, comprising:
a conversion kit having a plurality of vacuum holes formed in a Z-axis direction; and
a negative pressure transmission plate structure for the worktable, wherein the conversion suite is arranged on the other surface facing to the Z-axis direction and is communicated with the negative pressure generator and the vacuum hole,
the negative pressure transmission plate structure for the workbench can vacuum adsorb the conversion suite,
when the conversion suite is vacuum-absorbed by the negative pressure transmission plate structure for the workbench, the conversion suite is fixed on the negative pressure transmission plate structure for the workbench,
when the vacuum adsorption of the conversion kit is released by the negative pressure transmission plate structure for the workbench, the conversion kit can be removed from the negative pressure transmission plate structure for the workbench.
2. The table module of claim 1, wherein the table is constructed with a negative pressure transfer plate comprising:
a product recess for a table, a portion of which is opposite to a portion where the plurality of vacuum holes of the conversion kit are formed being recessed toward one side in the Z-axis direction, so as to transmit a negative pressure action and a release of the negative pressure generated by the negative pressure generator to the vacuum holes; and
and a table sleeve recess portion, wherein a portion of the table sleeve recess portion facing at least a part of the edge portion of the conversion sleeve is recessed toward one side in the Z-axis direction, thereby completing vacuum suction of the conversion sleeve.
3. The table module of claim 2, wherein the bundle recess has a cross-section in the shape of a long hole elongated in the longitudinal direction of the conversion bundle.
4. The stage module of claim 2,
the negative pressure transmission plate structure for the workbench comprises a protrusion protruding towards the other side of the Z-axis direction,
a hole into which at least a portion of the protrusion is inserted is formed in the conversion kit.
5. A changeover kit automatic exchange device, comprising:
the table module of claim 1; and
and a pickup module capable of separating the conversion kit previously arranged with respect to the table-use negative pressure transmission plate structure from the table-use negative pressure transmission plate structure or placing a new conversion kit with respect to the table-use negative pressure transmission plate structure.
6. The automatic changeover kit replacing device according to claim 5,
the picking module comprises a negative pressure transmission plate structure for the picking device, wherein the negative pressure transmission plate structure is arranged on one side of the Z-axis direction,
the negative pressure transmission plate structure for the picker can vacuum adsorb the conversion kit.
7. The conversion kit automatic exchange device according to claim 6, wherein the picker uses a negative pressure transfer plate structure, comprising:
a pickup product recess portion recessed toward the other side in the Z-axis direction at a portion opposed to the portion where the plurality of vacuum holes of the conversion kit are formed, for transmitting the negative pressure action and the release of the negative pressure generated by the negative pressure generator to the vacuum holes; and
and a pickup sleeve recessed portion, a portion of which is opposite to the edge portion of the conversion sleeve, is recessed toward the other side in the Z-axis direction to complete the suction of the conversion sleeve.
8. The automatic conversion kit replacing device according to claim 7, wherein the picker kit recess has a cross section in a shape of a long hole formed to extend in a longitudinal direction of the conversion kit.
9. The automatic changeover kit replacing device according to claim 7,
the negative pressure transmission plate structure for the picker comprises a protrusion protruding towards one side of the Z-axis direction,
a hole into which at least a part of the protrusion is inserted is formed in the negative pressure transmission plate for a work table.
10. The automatic changeover kit replacing device according to claim 7,
the conversion kit further includes a pair of protrusions protruding outward from both side surfaces of the conversion kit and formed to extend in a longitudinal direction of the conversion kit,
the negative pressure transmission plate structure for the picker further comprises a pair of coupling parts, and the coupling parts respectively protrude towards one side of the Z-axis direction from two side surfaces of the negative pressure transmission plate structure for the picker so as to be inserted and combined with the pair of protruding parts.
11. The automatic changeover kit replacing device according to claim 7,
the pick-up module further comprises a conversion kit,
when the conversion kit of the pickup module is not mounted on the negative pressure transmission plate structure for the pickup, the conversion kit previously arranged with respect to the negative pressure transmission plate structure for the table can be separated or a new conversion kit can be placed.
CN202080010565.1A 2019-02-26 2020-02-21 Automatic exchange device of workstation module and conversion external member Pending CN113330545A (en)

Applications Claiming Priority (11)

Application Number Priority Date Filing Date Title
KR10-2019-0022387 2019-02-26
KR10-2019-0022654 2019-02-26
KR1020190022387A KR102057331B1 (en) 2019-02-26 2019-02-26 Table module and conversion kit auto change apparatus
KR1020190022654A KR102095728B1 (en) 2019-02-26 2019-02-26 Conversion kit auto change system
KR1020190111576A KR102137996B1 (en) 2019-09-09 2019-09-09 Vacuum adsorption module
KR10-2019-0111576 2019-09-09
KR1020190111578A KR102167500B1 (en) 2019-09-09 2019-09-09 Vacuum adsorption module
KR10-2019-0111581 2019-09-09
KR1020190111581A KR102138003B1 (en) 2019-09-09 2019-09-09 Conversion kit auto change system
KR10-2019-0111578 2019-09-09
PCT/KR2020/002574 WO2020175863A1 (en) 2019-02-26 2020-02-21 Table module and apparatus for automatically exchanging conversion kit

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KR20060016314A (en) * 2004-08-17 2006-02-22 삼성전자주식회사 Chuck table of apparatus for cutting and sorting chip scale package
KR20070090130A (en) * 2007-08-16 2007-09-05 (주)선일테크론 Retainer ring structure for chemical-mechanical polishing machine and mounting method thereof
CN107405774A (en) * 2015-03-11 2017-11-28 宰体有限公司 Pick-up
CN108573899A (en) * 2017-03-13 2018-09-25 韩美半导体 Semiconductor manufacturing apparatus and its control method

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