KR101430665B1 - LED Transfer Device - Google Patents

Abstract

An LED transporting apparatus according to an embodiment of the present invention includes a robot arm that is spaced apart from a tray in a transverse direction and a longitudinal direction and transports a plurality of bins into which an LED chip is housed, And a bin gripper provided in the robot arm and having a plurality of fingers inserted into a spaced space region formed between four adjacent bins stored in the tray and holding at least one of the bins, .

Description

[0001] The present invention relates to an LED transfer device,

More particularly, the present invention relates to a gripper capable of effectively gripping and transporting a bean in a tray having a narrow space between a bean and a bean, and a gripper capable of holding the bean in a simple and efficient structure The present invention relates to an LED transporting apparatus having a tray capable of transporting light.

BACKGROUND ART [0002] Recently, an LED chip (LED_Light Emitting Diode) used in an electronic product is a kind of light emitting device using a semiconductor that converts electricity into light, and is also called a light emitting diode (Luminescent diode). The LED chip is used in various fields such as display lamps for various electronic apparatuses, backlight for numeric display devices, etc. since it is smaller than conventional light sources, has a long life, consumes less power, and has a high response speed.

The LED chip is manufactured through an epi process (EI), a chip process (Fabrication) and a package process (package), and the LED chip after the packaging process is subjected to an inspection process. In the inspection process, the LED chip which is not normally operated is excluded and the normally operated LED chip is classified according to the performance.

The LED chips that have undergone manufacturing and inspection processes can be accommodated in a cylindrical bin for storage and transportation and these bins are loaded on a tray and transferred to a bin stocker system, As shown in FIG.

Meanwhile, as shown in FIG. 1, the empty transfer robot of the prior art includes a gripper 200a having two or three jaws 200a, (gripper) to be able to grip and transport the beans one by one.

However, in order to load a large amount of bins into the tray at one time, the bins are disposed in the trays in the horizontal and vertical directions, i.e., in a tiled manner, so that it is not easy to transport any one of the bins from the tray. In other words, when the gripper of the empty transport robot enters the space (S) between the bins because the bins and the bins are almost continuously connected to each other, it is not easy to grasp the bins to be gripped accurately without interfering with the adjacent bins .

Therefore, in order to grasp the bean with the gripper of the prior art empty transfer robot, the work space must be secured by arranging the intervals between the beans in the tray or by dropping the beans around the bean from the bean- Which is a factor that deteriorates the efficiency of the LED chip transfer operation.

On the other hand, an empty case 500a is provided on the upper surface of the tray 30a for effectively inserting a hollow. 2, the hollow case 500a may be formed in a box shape having a rectangular parallelepiped shape with five receiving holes 510a into which five bins are inserted in the vertical direction. 500a may be arranged on the upper surface of the tray 30a, respectively. In this way, the tray 30a filled with the empty case 500a is conveyed along the process line. In this case, the empty cases 500a should be fixed to the tray 30a without flowing. To this end, in the prior art, a spring plate 700a for clamping each empty case 500a is provided.

However, in the prior art, the empty cases 500a are pushed in and out between the spring plates 700a. In order to fix the ten empty cases as shown in FIG. 2, the spring plates 700a There is a disadvantage that it is necessary to repeat the process of pushing the empty case 500a ten times and the operation time for disposing the empty case 500a in the tray 30a is long. Therefore, there is a need for an improved method for effectively securing the empty case 500a to the tray 30a.

Korean Published Patent No. 10-2011-0066461 Top Engineering Co., Ltd. June 17, 2011

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide an LED transporting apparatus having a gripper which can efficiently grip and transport a bean even on a tray having a narrow space between the bean and the bean.

According to another aspect of the present invention, there is provided an LED transfer device having a tray capable of integrally fixing a plurality of hollow cases with a simple structure.

According to an aspect of the present invention, there is provided a robot arm comprising: a robot arm which is spaced apart from a tray in a transverse direction and a longitudinal direction, the robot arm transferring a plurality of bins into which an LED chip is housed; And a plurality of fingers provided on the robot arm and inserted into spaced-apart space regions formed between the four adjacent bins stored in the tray and holding at least one of the bins, ) May be provided.

The empty gripper may be provided with at least one or more pairs of the fingers so as to form a quadrilateral.

Wherein the empty gripper comprises: a slide unit having two fingers facing each other and being horizontally movable integrally; And a slide driving unit coupled to one end of the robot arm and providing a driving force to the slide unit.

The slide unit may include a pair of first slide blocks which are arranged to be separated from each other by two of the fingers arranged on the respective plate surfaces, and arranged so as to be accessible to each other and spaced apart from each other.

Wherein the slide unit is disposed adjacent to the first slide block and is provided with a pair of fingers arranged to be mutually spaced apart from each other, 2 slide block, and the second slide block may be independently driven with respect to the first slide block.

The fingers comprising: a shaft provided in an arc shape in a flat section and extending downward from the slide unit; And a grasping portion having a circular cross section and extending downward from the shaft to grip an outer circumferential surface of the bezel.

Wherein the slide driving unit comprises: a body coupled to the robot arm, the cylinder having a piston therein; A piston rod connected to the piston to be stretchable; And one end of the piston rod is connected to the piston rod and the other end of the piston rod is connected to the pair of first slide blocks which are spaced apart from each other and are rotatable about an axis connected to the piston rod, And a pair of lever arms slidably moving the first slide block.

The empty gripper may further include a sensor unit for detecting the bin.

The sensor unit may include an infrared sensor coupled to the robot arm by a bracket and disposed between the spacing spaces of the first slide block.

The grip portion may be coated with urethane on its surface.

The tray includes: a plurality of empty cases in which bins for receiving LED chips are received; A plate in which the hollow cases are arranged in a line on an upper surface; And a clamping unit for fixing the hollow cases integrally with respect to the plate.

The clamping unit may include: a clamp rod disposed adjacent to one side of the hollow cases; A clamp bar supporting bracket for supporting the clamp rod so as to be spaced apart from the plate; And a plurality of empty case pressing members coupled to the clamp rods at predetermined intervals corresponding to the number of the empty cases, and rotating together with the clamp rods to press each of the empty cases.

The clamping unit may further include a wall portion that forms a blocking wall for separating the empty cases from the opposite sides of the empty case pressing portion with the empty cases therebetween.

And may be provided in a shape protruding in one direction from the central portion of the annular shape into which the clamp bar is inserted.

The clamping unit may further include a clamp rod operating member coupled to the clamp rod and rotating the clamp rod at a predetermined angle.

Wherein the clamp rod operating member includes: a body fixedly coupled to both end regions of the clamp rod; And a pair of rotating plates extending in mutually intersecting directions with respect to the body.

The plate may include protrusions protruding from the upper surface of the plate and inserted into the insertion groove to prevent the empty case from being separated from the plate.

Embodiments of the present invention can provide an LED transporting apparatus having an empty gripper capable of efficiently gripping and transporting one or more bins even in a tray having a narrow space between the bins and the bins.

In addition, embodiments of the present invention can provide an LED transporting apparatus having a tray capable of fixing a plurality of empty cases integrally with a simple structure.

FIG. 1 is a view for explaining the operation of an empty gripper according to the prior art for gripping a bin densely arranged in a tray.
2 shows a tray according to the prior art.
Figure 3 is a diagram of a point of contact where a finger of an empty gripper grasps a bean according to an embodiment of the present invention.
4 is a perspective view illustrating an empty gripper provided on a robot arm according to an embodiment of the present invention.
5 is a front view of Fig.
6 is a side view of Fig.
Fig. 7 is a rear view of Fig. 4; Fig.
8 is a schematic structural view of a slide drive unit according to an embodiment of the present invention.
9 is a view of a tray according to an embodiment of the present invention.
10 is an exploded perspective view of the tray of FIG.
11 is a view showing a clamping unit according to an embodiment of the present invention.
12 is a partially enlarged perspective view of the hollow case fixed by the clamping unit of Fig.

In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the accompanying drawings which illustrate preferred embodiments of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Like reference symbols in the drawings denote like elements.

Prior to the description with reference to the drawings, the bin described below refers to a storage and transportation medium for a cylindrical LED chip capable of accommodating a plurality of LED chips therein.

The LED chips that have undergone manufacturing and inspection processes are housed in a bin for storage and transportation. These bins are each inserted into an empty case provided in a tray and loaded on a tray 30. Thus, the tray on which the bin is loaded can be stored in an empty storage space for temporarily storing any next process or bean along the process line. (Not shown). An empty storage chamber (not shown) is provided with an empty transfer robot for gripping the bin from the tray one by one and transferring it to a storage cassette (not shown).

Referring to FIGS. 1 and 2, the bins are arranged in the tray 30a in a horizontal and vertical direction, that is, in a tiled manner so that a large number of bins can be stacked on the tray 30a at one time. And the bins are almost continuous, so it is not easy to grasp the beans one by one.

In addition, the spaces between the bins and the bins disposed on the tray 30a are very narrow, and the conventional empty transfer robot having the conventional empty transfer robot, that is, the three sets of jaws 200a, When the three tanks 200a are moved down from the top of the bin to be gripped, it is difficult to enter the tanks 200a due to the interference of the adjacent bins, and the conventional bin transfer robot 200a having two tanks 200a Two tanks 200a are provided at intervals of 180 degrees so that entry into the spacing space S formed between the bins and the bins is easier than that of the bin transfer robot having the above-described three tanks 200a, And it is disadvantageous in that the side surface can not be stably supported.

Thus, the LED transporting apparatus according to the present embodiment provides an empty gripper 20 capable of effectively holding a bin which is densely arranged on a tray.

FIG. 3 is a view of a contact point at which a finger of an empty gripper grasps a bean according to an embodiment of the present invention, FIG. 4 is a perspective view illustrating an empty gripper provided at a robot arm according to an embodiment of the present invention, 5 is a front view of Fig. 4, Fig. 6 is a side view of Fig. 4, Fig. 7 is a rear view of Fig. 4, Fig. 8 is a schematic structural view of a slide drive unit according to an embodiment of the present invention, 9 is an exploded perspective view of the tray of FIG. 9, FIG. 11 is a view showing a clamping unit according to an embodiment of the present invention, FIG. 12 is a cross- Fig. 2 is a partially enlarged perspective view of a hollow case fixed by a cap. Fig.

3 to 7, the LED transfer device according to the embodiment of the present invention includes a plurality of LED chips 30, which are spaced apart from each other in the transverse direction and the longitudinal direction of the tray 30, A robot arm 10 for transferring bins and a plurality of baffles 30 inserted in a spaced space region S formed between four adjacent bails accommodated in the tray 30 and provided in the robot arm 10, And a bin gripper 20 having a plurality of fingers 200 for gripping at least one of the bins.

The robot arm 10 of the empty transfer robot is coupled to the robot body so as to be capable of rotating, advancing, and moving up and down at least in one direction with respect to the robot body (not shown). Therefore, the robot arm 10 can be moved to a desired position, for example, from the tray 30 to an empty storage cassette (not shown) by rotating, straightening, and moving up and down.

Meanwhile, the empty gripper 20 according to the present embodiment includes at least one set of fingers 200 as a set of four fingers 200 forming a rectangular configuration. The two fingers 200 facing each other are horizontally movable forward and backward in the X-axis direction.

The empty gripper 20 having these four fingers 200 is inserted into a spaced space area S formed between four adjacent bores of the tray 30 and then inserted into two mutually opposing fingers 200 ) Horizontally move toward the gripping object bezel to grasp the gripping object bean.

Specifically, the cylindrical bins (see FIG. 9) are inserted into the empty cases 500 and are continuously aligned with the trays 30 in the lateral and longitudinal directions. When viewed from the top to the bottom of the tray 30, A spacing space S is formed between the four bins. That is, four spaced space regions S are formed around any one of the bins to be gripped. A set of fingers 200 forming a quadrangle according to the present embodiment can enter from top to bottom in the four spaced apart spatial regions S to avoid interference of bins adjacent to the bin to be grasped.

Hereinafter, the empty gripper 20 will be described in detail.

The empty gripper 20 includes a slide unit 100 in which two mutually opposing fingers 200 are integrally and horizontally movable and a pair of grippers 20 coupled to one end of the robot arm 10, And a slide driving unit 300 for providing a driving force.

In this embodiment, the slide unit 100 of the empty gripper 20 includes a pair of first slide blocks 110, a pair of second slides disposed adjacent to the pair of first slide blocks 110, Block 120. < / RTI >

Each of the first slide block 110 and the second slide block 120 is coupled with a pair of fingers 200, and each of the first slide block 110 and the second slide block 120 can hold one bin. In particular, the first slide block 110 and the second slide block 120 are separated from each other to be independently driven. Therefore, the empty gripper 20 according to the present embodiment can simultaneously grip two bins at a time, and can grip only one bins if necessary. A detailed description of this driving mechanism will be described later.

Since the first slide block 110 and the second slide block 120 have the same configuration, the description of the first slide block 110 will be replaced with the description of the second slide block 120 described below.

In the pair of first slide blocks 110, two fingers 200 are coupled to each plate surface so as to form a rectangular configuration. These fingers 200 may be detached or integrally formed in a manner to be screwed onto the plate surface of the first slide block 110. However, it is preferable that the fingers 200 are detachably mounted on the surface of the first slide block 110 to facilitate maintenance and replacement at a later time.

As described above, a pair of fingers 200, that is, four fingers 200 provided in the pair of first slide blocks 110, are arranged in a circumferential direction with respect to one of the bins to be gripped Enters the upper and lower spaced apart space regions S, and then comes in close contact with both sides of the gripped bean.

To this end, the pair of first slide blocks 110 are disposed so as to be accessible and spaced from each other. The first slide block 110 may be connected to the slide driving unit 300 at an upper portion thereof and controlled to be horizontally movable by the slide driving unit 300.

8, the slide driving unit 300 includes a main body 310 coupled to the robot arm 10 and including a cylinder 320 having a piston therein, The piston rod 330 is connected to the piston rod 330 at one end and connected to the pair of first slide blocks 110 at the other end of the piston rod 330, A pair of lever arms 340 that are rotatably provided at the center of the body 310 and slidably move the first slide block 110 in cooperation with the piston rod 330, And an LM guide 350 slidably guiding the main body 110 with respect to the main body 310.

A cylinder 320 is provided on the upper side of the main body 310 and the piston rod 330 translates in a vertical direction by the action of the cylinder 320. At this time, the cylinder 320 may be a pneumatic or hydraulic cylinder.

The pair of lever arms 340 serve to transmit the force of the piston rod 330 acting in the vertical direction so that the pair of slide blocks can move in the horizontal direction. The pair of lever arms 340 are coupled to the pair of first slide blocks 110 symmetrically about the piston rod 330.

The lever arm 340 includes a plurality of links 341 rotatably connected to the end region of the piston rod 330 through a rotation pin 343 and a plurality of links 341 rotatably connected to the link 341 by a rotation pin 343. [ And the list 342 is movable along the LM guide 350 provided in the main body 310. The LM guide 350 is provided with a list 342, That is, when the piston rod 330 reciprocates under the action of the cylinder 320, the links 341 are linearly and rotationally moved, and the list 342 connected to the link 341 is moved along the LM guide 350 to the piston rod 330 in the horizontal direction. In other words, when the piston rod 330 moves downward, the list 342 is separated from each other as the angle of the link 341 increases, and conversely, when the piston rod 330 moves upward, the angle of the link 341 decreases The lists 342 approach each other.

These lists 342 extend downwardly of the main body 310 and are coupled to the pair of first slide blocks 110, respectively. Accordingly, the pair of first slide blocks 110 can move in the horizontal direction together with the lists 342, and the two fingers 200 are coupled to the pair of first slide blocks 110 in a rectangular shape So that the two fingers 200 can be gripped by moving horizontally so that the two fingers 200 can approach and be separated from each other with a space between them.

In addition, a guide bar 130 for guiding and restricting horizontal movement of the first slide blocks 110 may be further provided between the pair of first slide blocks 110 spaced from each other (see FIG. 4). The guide bar 130 is inserted into one side of the first slide blocks 110 and has a nut 131 for adjusting the gap. This is to limit the access of the first slide blocks 110 to a distance sufficient to grip the bean while guiding the horizontal movement between the first slide blocks 110.

However, the scope of the present invention is not limited to the pneumatic or hydraulic cylinder operation type slide drive unit 300, and an operation type slide drive unit 300 using a rack, a pinion, a ball screw, .

The finger 200 applied to the empty gripper 20 according to the present embodiment includes a shaft 210 having a flat cross section formed in an arc shape and coupled to the first slide unit 100, And a grip portion 220 extending downward from the shaft 210 and gripping an outer peripheral surface of the bead.

The hollow cap (C) of the hollow upper end is slightly larger than the hollow body of the outer periphery. Therefore, the finger 200 according to the present embodiment is able to effectively grip the side surface of the bean without interfering with the empty lid of the empty upper end by forming the stepped portion in the inward direction with respect to the shaft 210. In addition, the step difference region has an advantage that it can prevent the bead from falling downward in some cases.

The grip part 220 may be coated with urethane to prevent slippage during empty transportation. However, the scope of the present invention is not limited to the shape of the finger 200 of the present embodiment and the grip portion 220 coated with urethane. For example, a rubber or silicone pad may be applied to the grip portion 220.

Meanwhile, the empty gripper 20 according to the present embodiment further includes a sensor unit 400 for detecting a bin. The sensor unit 400 detects the presence or absence of the bean in order to prevent malfunction of the empty gripper 20 and to accurately grasp the bean.

4 and 6 to 7, the sensor unit 400 includes an infrared sensor (not shown) coupled to the robot arm 10 by the bracket 410 and disposed between the spacing spaces of the first slide block 110 400). The infrared sensor 400 irradiates infrared light between the first slide blocks 110 to detect the top surface of the bezel. When the robot arm 10 descends and approaches the upper surface of the bezel, the infrared sensor 400 operates and the bezel gripper 20 grasps the bezel.

Although the sensor unit 400 according to the present embodiment is implemented by the infrared sensor 400, the present invention is not limited thereto, and may be realized in various ways, such as a laser sensor or an ultrasonic sensor, Of course.

Hereinafter, the operation of the empty gripper 20 having such a configuration will be briefly described.

The empty gripper 20 of the present embodiment is provided with four fingers 200 arranged in a rectangular shape in the first slide blocks 110 and the second slide blocks 120, respectively.

When the robot arm 10 is driven to descend from the upper portion of the tray 30, the fingers 200 coupled to the first slide block 110 and the second slide block 120 are rotated about the two bezel And enters the spacing space regions S formed in the periphery. At this time, when the infrared sensor 400 detects the bails, the slide driving unit 300 is operated to horizontally move so that the distance between the first slide blocks 110 and the second slide blocks 120 becomes narrow, Is gripped by the finger (200). As the robot arm 10 ascends and descends, the two bins are separated from the tray 30, and the robot arm 10 is driven forward, rotated, and raised and lowered, and the bean is transported to the empty storage cassette.

The first slide block 110 and the second slide block 120 according to the present embodiment are separated and driven independently so that the first slide block 110 and the second slide block 120 are driven independently, Alternatively, only the second slide block 120 may be driven to hold only one bin.

As described above, the empty gripper 20 of the LED transfer device according to the present embodiment includes the finger 200 having at least four rows arranged in a rectangular configuration, so that when the empty gripper 20 is not interfered by other adjacent bins It is possible to securely hold a target bin.

On the other hand, the trays 30 on which the bins are loaded can be transported along a process line driven by a belt, wherein the tray 30 is required to have a fixing means capable of preventing the escape of the bins.

9 to 12, the tray 30 according to the embodiment of the present invention includes a plurality of empty cases 500 in which bins for receiving LED chips are received, And a clamping unit 700 which fixes the hollow cases 500 integrally with respect to the plate 600. The clamping unit 700 includes a clamping unit 700,

The hollow case 500 houses a box-like cylindrical bore having a plurality of receiving holes 510 which are vertically penetrated in the thickness direction. In this embodiment, the empty case 500 has five receiving holes 510 in one direction, but is not limited thereto. The empty case 500 includes a plurality of receiving holes 510 in the lateral and longitudinal directions, As shown in Fig.

The bins of the cylindrical shape are inserted into the receiving holes 510 of the hollow case 500 from the top to the bottom, respectively. The bins are gradually smaller in cross-sectional area from the upper portion to the lower portion. The lower portion is inserted into the hollow case 500, Can not pass through the hollow case 500.

The plate 600 is a part forming the plate surface of the tray 30 and is provided with through holes 640 communicating with the receiving holes 510 of the empty case 500. The through hole 640 is for effectively accommodating a relatively long bean, but the scope of the present invention is not necessarily limited to such a matter, and the plate 600 may be provided as a simple plate. A frame bar 610 for preventing the load from being separated from the frame 600 is coupled to the edge of the plate 600 and a handle 620 may be further provided on one side of the frame bar 610 for convenience of transporting the tray 30.

An insertion groove 520 is formed in the lower end of the hollow case 500 according to the present embodiment and a projection 600 protruded from the upper surface of the plate 600 and inserted into the insertion groove 520 (Not shown). The empty case 500 is disposed on the upper surface of the plate 600 so that the insertion groove 520 of the empty case 500 is positioned at a position corresponding to the protrusions 630 of the plate 600. The protrusion 630 and the insertion groove 520 have an advantage that the hollow case 500 can be fixed to the plate 600 to some extent while facilitating alignment of the hollow case 500.

The plurality of empty cases 500 aligned in a line on the upper surface of the plate 600 can be finally fixed to the plate 600 as a whole by the clamping unit 700. [

The clamping unit 700 according to the present embodiment includes a clamp rod 710 disposed adjacent to one side of the hollow case 500 and a clamp rod 710 coupled to the clamp rod 710 to clamp the clamp rod 710 at a predetermined angle A clamp bar supporting bracket 720 for supporting the clamp bar 710 so as to be spaced apart from the plate 600 and a clamp bar 710 for supporting the clamp bar 710 in correspondence with the number of empty cases 500, (Not shown), which are arranged at opposite sides of the hollow case pressing member 730, and the hollow case pressing member 730, which is coupled to the hollow case pressing member 730 by one rotation at a predetermined interval and rotates together with the clamp rod 710 to press each hollow case 500 And a wall portion 740 that prevents the escape of the empty cases 500.

The clamp rod 710 is rotatable by the clamp bar supporting bracket 720 on one side of the plate 600 in parallel with the alignment direction of the empty cases 500 aligned on the upper surface of the plate 600, 600, respectively. The height of the plate 600 spaced apart from the upper surface is preferably about half of the height of the hollow case 500.

The clamp bar supporting bracket 720 may be provided such that the lower end thereof is fixedly coupled to the plate 600 and the upper end thereof is annularly inserted into the clamp rod 710. In the present embodiment, four clamp bar supporting brackets 720 are arranged at regular intervals with respect to the clamp bar 710, but the scope of the present invention is not limited to these shapes and numbers.

In this embodiment, ten empty case pressing members 730 are provided, and each empty case pressing member 730 corresponds to one side of ten empty cases 500 aligned in a line on the upper surface of the plate 600 To the clamp rod 710 at a position where the clamp rod 710 is inserted. The hollow case pressing member 730 has a portion protruding in one direction from an annular center portion inserted into the clamp rod 710. Therefore, when the projecting portions of the hollow case pressing member 730 are at an angle of about 90 degrees with respect to the upper surface of the plate 600 and the clamping rod 710 is rotated clockwise, So that the protruded portions are pressed together at the sides of the plurality of empty cases 500. The hollow case pressing member 730 may be made of synthetic rubber or silicone to prevent damage and slippage of the hollow case 500. Of course, the scope of the present invention is not limited to the material of the hollow case 500.

On the other hand, the user can easily and easily rotate the clamp rod 710 with the clamp rod operating member 750 at an appropriate angle. In this embodiment, the clamp rod operating member 750 is provided at both end regions of the clamp rod 710. The clamp rod manipulating member 750 includes an engaging body 751 fixedly coupled to both end regions of the clamp rod 710 and a pair of rotary plates 752 extending in the direction intersecting with the engaging body 751 do. The plate 600 further includes a rotation plate stopper 753 that prevents the rotation plate 752 from being rotated by more than a predetermined angle.

The user can easily rotate the clamp rod 710 by holding the pair of rotary plates 752 with both hands and turning clockwise or counterclockwise. At this time, the rotation range of the clamp rod 710 may be limited to the rotary plate stopper 753. [

The pressurized state of the hollow case pressing member 730 to the hollow case 500 is preferably a state in which the protruding portion of the hollow case pressing member 730 presses the side center portion of the hollow case 500 at a horizontal angle . The clamp rod 710 is spaced apart from the plate 600 by a clamp bar supporting bracket 720 at a predetermined height so that the clamp plate 710 is spaced apart from the plate 600 So that the rotation of the rotation plate 752 is prevented from exceeding a horizontal angle with respect to the hollow case 500. Accordingly, the worker can easily fix the hollow case 500 by turning the rotary plate 752 in contact with the rotary plate stopper 753.

The LED chip transfer tray 30 having such a configuration is configured such that the user inserts the insertion grooves 520 of the hollow case 500 into the projections 630 of the plate 600, A plurality of empty cases 500 can be fixed at one time by aligning the upper case 500 on the upper surface of the upper case 600 and holding the clamping rod operating member 750 with both hands. According to this method, not only the operation of fixing the bin to the tray 30 is simple, but also the working time can be shortened.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Accordingly, such modifications or variations are intended to fall within the scope of the appended claims.

10: Robot arm 20: Empty gripper
30: Tray 100: Slide unit
110: first slide block 120: second slide block
200: finger 210: shaft
220: grip part 300: slide drive unit
310: main body 320: cylinder
330: piston rod 340: lever arm
341: Link 342: List
343: rotation pin 350: LM guide
400: sensor unit 410: bracket
500: empty case 510: storage bag
600: Plate 610: Frame bar
620: handle 630: projection
700: Clamping unit 710: Clamping rod
720: clamp rod supporting bracket 730: hollow case pressing member
740: wall portion 750: clamp rod operating member
751: engaging body 752:

Claims (17)

A robot arm spaced apart from each other in a transverse direction and a longitudinal direction of the tray, the robot arm transferring a plurality of bins into which an LED chip is housed; And
A bin gripper provided on the robot arm and having a plurality of fingers inserted into a spaced space region formed between four adjacent bails stored in the tray and holding at least one of the bins, / RTI >
The tray may include:
A plurality of empty cases in which bins accommodating LED chips are housed;
A plate in which the hollow cases are arranged in a line on an upper surface; And
And a clamping unit for fixing the hollow cases integrally with respect to the plate. The method according to claim 1,
In the empty gripper,
And at least one set of the fingers is provided in a set of four to form a square configuration. 3. The method of claim 2,
The empty gripper
A slide unit having two fingers facing each other and being horizontally movable integrally; And
And a slide driving unit coupled to one end of the robot arm and providing a driving force to the slide unit. The method of claim 3,
The slide unit includes:
And a pair of first slide blocks which are arranged to be mutually spaced apart from each other and arranged so as to be able to approach each other and to be spaced apart from each other. 5. The method of claim 4,
The slide unit includes:
A pair of second slide blocks disposed adjacently to the first slide block and arranged on the plate surface in such a manner that two of the fingers are respectively coupled to each other and are spaced apart from each other, ≪ / RTI &
Wherein the second slide block is independently driven with respect to the first slide block. The method of claim 3,
Wherein the finger comprises:
A shaft having a flat section in an arc shape and extending downward from the slide unit; And
And a grasping portion having a circular cross section and extending downward from the shaft to grip an outer circumferential surface of the bezel. The method of claim 3,
The slide drive unit includes:
A body coupled to the robot arm, the cylinder having a piston therein;
A piston rod connected to the piston to be stretchable; And
And the other end is rotatably connected to the pair of first slide blocks spaced apart from each other and rotatable about a shaft connected to the piston rod so as to be rotatable with respect to the piston rod, And a pair of lever arms for sliding the one slide block. The method of claim 3,
Wherein the empty gripper further comprises a sensor unit for detecting the bin. 9. The method of claim 8,
The sensor unit includes:
And an infrared sensor coupled to the robot arm by a bracket and disposed between the spacing spaces of the first slide block. The method according to claim 6,
Wherein the gripping portion is coated with urethane on its surface. delete The method according to claim 1,
Wherein the clamping unit comprises:
A clamp rod disposed adjacent to one side of the hollow case;
A clamp bar supporting bracket for supporting the clamp rod so as to be spaced apart from the plate; And
And a plurality of empty case pressing members coupled to the clamp rods at predetermined intervals corresponding to the number of the blank cases, and rotated together with the clamp rods to press each of the hollow cases. 13. The method of claim 12,
Wherein the clamping unit comprises:
Further comprising a wall portion that forms a blocking wall for separating the empty cases from the opposite sides of the empty case pressing portion with the empty cases interposed therebetween. 13. The method of claim 12,
The empty case pressing member
And the protruding portion protrudes in one direction from a center portion of the annular shape into which the clamp bar is inserted. 13. The method of claim 12,
Wherein the clamping unit comprises:
Further comprising a clamp rod operating member coupled to the clamp rod to rotate the clamp rod at a predetermined angle. 14. The method of claim 13,
The clamp rod operating member
A body fixedly coupled to both end regions of the clamp rod; And
And a pair of rotation plates extending in mutually intersecting directions with respect to the body. The method according to claim 1,
The hollow case has an insertion groove formed on the lower surface thereof,
The plate may comprise:
And protrusions protruding from an upper surface of the plate and inserted into the insertion groove to prevent the empty case from being separated.

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