KR101773771B1 - Grip type attachment apparatus - Google Patents

Grip type attachment apparatus Download PDF

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Publication number
KR101773771B1
KR101773771B1 KR1020150144795A KR20150144795A KR101773771B1 KR 101773771 B1 KR101773771 B1 KR 101773771B1 KR 1020150144795 A KR1020150144795 A KR 1020150144795A KR 20150144795 A KR20150144795 A KR 20150144795A KR 101773771 B1 KR101773771 B1 KR 101773771B1
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KR
South Korea
Prior art keywords
grip
grip finger
finger
attachment
gripper
Prior art date
Application number
KR1020150144795A
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Korean (ko)
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KR20170044993A (en
Inventor
손영곤
Original Assignee
(주)소닉스
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Priority to KR1020150144795A priority Critical patent/KR101773771B1/en
Publication of KR20170044993A publication Critical patent/KR20170044993A/en
Application granted granted Critical
Publication of KR101773771B1 publication Critical patent/KR101773771B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum

Abstract

The present invention relates to a grip type attaching apparatus and more particularly to a grip type attaching apparatus which grips and separates a work attaching material among a plurality of attaching materials adhered to a film supplied to a work position and attaches a gripper A gripper unit including at least one gripper unit; A moving device capable of adjusting the position of the gripper unit; And a control device for controlling each operation of the gripper unit and the mobile unit, wherein the gripper comprises: a first grip finger having an adsorption surface capable of fixing the attachment material through vacuum adsorption; A second grip finger provided so as to press and grip an attached material fixed through the first grip finger toward the first grip finger; And a driving device capable of adjusting the position of the first grip finger or the second grip finger.

Description

GRIP TYPE ATTACHMENT APPARATUS [0001]

The present invention relates to an attachment device in the form of a grip for attaching a specific material on a mold frame for a backlight unit.

In recent years, technological development has been greatly influential in the construction of an automation system for a component assembly process. Among them, a variety of detachable devices for holding a specific material and moving it repeatedly to a desired position to perform assembly of the material, It has been improved in various ways for improvement.

In general, attaching devices are provided in the form of a gripper for gripping a material to form a constant pressure on both sides of the material, picking up the material in the form of a gripper, placing the gripper at a desired position, releasing the gripper in both directions to release the gripper .

In this regard, various developments of the gripper have been improved in terms of enhancing the grip performance. Accordingly, the improved grippers have been improved in the degree of external force that can be provided through the pressurization from both sides or the grip force of the gripper tangent to the material And a structure that can expand the range of objects that can be grasped by expanding the displacement range of a pair of pincers holding a structure or material that can be increased.

A prior art document related to the prior art for improving the gripping performance reflecting the structural deformation of the gripper is disclosed in Korean Patent Registration No. 10-1009290 entitled " Gripping Mechanism Having Driving Mechanism and Driving Mechanism " Quot;).

However, in the case of conventional grip type attaching devices including the related art, consideration is not given to the space in which the component is gripped and the space in the attachment object to which the component is attached through only considering the gripping and attaching performance of the component, It is necessary to provide a wide pitch between the components to be gripped and separated so that the operation efficiency is lowered and the production cost is increased and a device for attaching the components in the process of attaching the separated components is mounted on other parts There is a problem in that it may induce interference with each other, thereby impairing the completeness of the assembly, and causing defects in the parts.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is an object of the present invention to provide a mold frame for a backlight unit, which can stably and efficiently perform a process of holding and attaching various attachment materials from a film, And a grip type attachment device provided with the grip type attachment device.

In order to attain the above object, a grip type attaching apparatus according to the present invention is a grip type attaching apparatus for gripping and separating a work attaching material among a plurality of attaching materials adhered to a film supplied to a work position and attaching an attaching material held on the mold frame A gripper unit including at least one gripper capable of gripping the gripper; A moving device capable of adjusting the position of the gripper unit; And a control device for controlling each operation of the gripper unit and the mobile unit, wherein the gripper comprises: a first grip finger having an adsorption surface capable of fixing the attachment material through vacuum adsorption; A second grip finger provided so as to press and grip an attached material fixed through the first grip finger toward the first grip finger; And a driving device capable of adjusting the position of the first grip finger or the second grip finger.

The first grip finger is formed with an air suction port on its suction surface, and an air suction path communicating with the air suction port is formed therein. On one side of the first grip finger, the air suction port is connected to the air suction port, A vacuum adsorbing device for sucking air from the adsorbing surface and fixing the adhered material contacting the adsorbing surface to the adsorbing surface through vacuum adsorption is provided.

The driving device may further include: a first driving element capable of reciprocating the first grip finger up and down in a direction perpendicular to the working position or the mold frame; And a second driving element capable of horizontally reciprocating between the first grip finger side capable of gripping the second grip finger and the opposite side of the first grip finger capable of gripping the gripped gripping material; .

In addition, the control device may be configured to separate the workpiece attachment material from the film supplied to the work position by the first grip finger, and to fix the separated attachment material to the suction surface of the first grip finger through vacuum adsorption, Thereby controlling the driving element and the vacuum adsorption device.

Further, the control device controls the second driving element so as to grasp or grasp the attachment material fixed to the adsorption face of the first grip finger.

And the driving device further includes a third driving element capable of reciprocating the first grip finger and the second grip finger in the same direction as the reciprocating direction of the first grip finger by the first driving element .

Here, the gripper unit includes a plurality of grippers, and the controller controls the first grip finger and the second grip finger of the gripper to perform gripping or attaching operations of the plurality of grippers in the gripper unit, And controls the third driving element so as to be located slightly closer to the working position side than the remaining grippers.

Further, the moving device may include: a first moving element capable of horizontally reciprocating the gripper unit between the upper side of the working position and the upper side of the mold frame; A second moving element capable of reciprocating the gripper unit in a direction perpendicular to a reciprocating direction and a horizontal plane of the gripper unit by the first moving element; A lifting element capable of vertically reciprocating the gripper unit in a direction perpendicular to the horizontal plane; And a rotary element capable of rotating the gripper unit about a direction perpendicular to the horizontal plane; .

And the suction surface of the first grip finger has a pressing portion contacting the upper surface of the adhesive material facing the adhesive surface of the adhesive material; And a gripping portion that is in contact with the side of the attachment material opposite to the side to be pressed by the second grip finger.

Here, the control device controls the first driving element and the vacuum adsorption device so that the first grip finger attaches the attachment material to the attachment position on the mold frame, and the attachment surface of the attachment material and the first grip finger are released .

The present invention has the following effects.

First, the gripper in the grip-type attaching device is constituted by a first grip finger moving vertically and vertically and a second grip finger moving forward and backward, so that a fixing force through vacuum suction and a clamping force through pressurization are respectively provided to the attaching material, Separation, grasping and attachment of the material can be accomplished.

Second, in performing the process of separating the adhesive material adhered to the film by the gripper in the grip type attaching device and the process of attaching the attaching material separated on the mold frame, the first grip finger is moved up and down, The degree of interference with other members in the work space is significantly reduced as a result of the respective processes being performed so that more adhesive material can be adhered to the film on the basis of a certain space, It is possible to prevent an adverse influence on other component materials including the optical member laminated on the frame.

Third, the positional confirmation member of the grip type attachment device exposed so as to be visible on the photographing area of the second aligning camera for alignment in the attaching process of the attaching material and the first aligning camera for aligning in the attaching material separation process The position of the gripper which is relatively distant from the alignment mark formed on the imaging area is determined, and the gripper which is not confirmed on the photographing area according to each alignment process is accurately positioned .

1 is a right side view showing a material attaching system on a mold frame for a backlight unit of the present invention.
2 is a perspective view showing a structure of a grip type attachment device of the present invention.
3 is a perspective view showing the structure of a grip type unit in a grip type attachment device of the present invention.
4 is a plan view showing the structure of a grip type unit in a grip type attachment device of the present invention.
5 is a rear view showing the structure of the gripper unit in the grip type attachment device of the present invention.
6 and 7 are conceptual diagrams for explaining the gripping process of the attachment material through the gripper in the grip type attachment device of the present invention.
Figs. 8 and 9 are conceptual diagrams for explaining the attachment process of the attachment material through the gripper in the grip type attachment device of the present invention. Fig.

The preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings, in which the technical parts already known will be omitted or compressed for the sake of brevity.

1. Description of components of a material attachment system on a mold frame for a backlight unit

1 to 8, the present system for attaching a material on a mold frame for a backlight unit of the present invention comprises a film supply device 100; A grip type attachment device 200; A first alignment camera 300; And a control device 400.

The film feeder 100 separates the upper release tape TF attached to the film F by controlling the rotation direction and rotation speed of a plurality of rollers installed in accordance with the respective roles as shown in FIG. So that a large number of adhesive materials LF adhered on the film F are supplied to the working position TP in such a state as to be detachable from the film F. [

A plurality of attaching materials LF adhered on the film F are attached to the mold frame MF for the backlight unit to form a part of the backlight unit. For example, the mold frame MF for the backlight unit, To prevent light outflow from the inside of the mold frame MF or to prevent light inflow into the mold frame MF through a finish in the assembling process for various optical members laminated on the mold frame MF. However, the present invention is not limited to this, and various materials to be attached to the mold frame MF can be applied.

Each operation mode of the protective film feeder 100 to be described below is controlled through the control device 400. [

Here, the adhesive material LF is adhered to the film F in a constant pattern in accordance with a pitch at a constant interval, and the adhesive surface (lower side) of the adhesive material LF sticking to the film F is adhered Type attaching device 200 and is attached to the mold frame MF by the grip-type attaching device 200. In this case,

In addition, a separate upper release tape TF may be attached on the upper surface of the film F, that is, on the upper side covering the attachment material LF. However, the shape of the film F may be such that the attachment material LF The form of the release paper to be adhered is not limited to such a form but can be designed and modified in various forms according to the film F provided.

The film F is provided in a roll form so as to be unwound by rotation on one side and wound by rotation on the other side. To this end, the film feeder 100 is configured to rotate in one direction so that the film F mounted in the form of a roll is released, and includes a material roller 120 operated by a separate driving motor connected to the shaft, A first take-off roller 130 which is rotated in one direction by a separate driving motor and which collects the upper release tape TF separated from the film F in the form of a roll, and a separate drive motor connected to the shaft A second collection roller 140 for winding the film BF separated in the form of a roll by rotating the adhesive material LF in one direction through the grip type attachment device 200 may be provided.

The rotational movement of the material roller 120, the first collecting roller 130 and the second collecting roller 140 is determined by the rotational movement of all the attaching materials LF on the film F moved to the predetermined working position TP The film F mounted on the material roller 110 and the upper release tape TF wound on the first recovery roller 130 and the adhesive material W wound on the second recovery roller 140, It is preferable that the control unit 300 controls the film BF in which the separation operation of the separation film LF is completed by one pitch.

The protective film supply device 100 is provided with at least one guide roller (not shown) and at least one direction adjusting roller (not shown) to assist the flow of the film F described above and to efficiently guide the movement path, Is preferably included.

The position of the film F supplied to the working position TP is fixed on the bottom surface of the film F supplied to the working position TP via the film feeding device 100, A suction block 110 for eliminating the problem that the position of the film F or the attachment material LF is deformed to deteriorate the operation efficiency when performing various operations such as separation, grasping, and rapid cooling processing for the material LF, .

A plurality of air inlets 110H are formed in the suction block 110 provided at the working position TP of the film supply device 100 and are connected to the suction block 110 through a vacuum pressure generating device connected to the air inlet 110H. The lower surface of the film F positioned on the upper surface is vacuum-absorbed to fix the position of the film F.

The fixing of the position of the film F through the suction block 110 of the film feeding device 100 is performed by the controller 300 so that the grip type attaching device 200 is moved to the working position TP The grip type attaching apparatus 200 has completed the separation operation of all the attachment materials LF on the film F moved to the work position TP So that movement of the film F to the working position TP by one pitch is controlled differently.

The grip type attachment device 200 is configured to grip and separate the attachment material LF from the film F supplied to the working position through the film feeder 100 and to move it to the mold frame MF A gripper unit 210U provided with at least one or more combinations of grippers 210 for gripping or releasing gripping material LF as shown in Fig. 2, a gripper unit 210U for adjusting the position of the gripper unit 210U, The moving device 220 and the grip type attaching device 200 provided in combination of various moving elements are connected to the outside of the gripper unit 210U to represent the positions of the various camera devices provided in the system of the present invention And a position confirming member 230 exposed outwardly so as to be visible on the photographing direction and the area.

First, the gripper 210 constituting the gripper unit 210U is configured to perform gripping separation and movement attachment of a substantially grip-like attachment material LF. In order to perform a grip-type operation, It has a gripping structure made up of finger elements.

As shown in FIG. 3, the gripper 210 is provided with a first attaching member LF for providing a vacuum attraction force to a contacting attaching member LF to fix the attaching member LF, The attaching material LF fixed to the first grip finger 211 in the form of a nip with the grip finger 211 and the first grip finger 211 is pushed toward the first grip finger 211 to attach the attaching material LF And a driving device 213 for adjusting the position of the first grip finger 211 or the second grip finger 212. The second grip finger 212 and the second grip finger 212 raise the clamping force to the attaching material LF, .

The first grip finger 211 is a finger element of a grip type structure for performing a grip type grip. The first grip finger 211 is a first finger finger which is first brought into contact with the attachment material LF on the film F 211 are formed at the lower end thereof with an adsorption surface 211A which is embedded in the inside corresponding to the shape of some attachment material LF so as to be in contact with a part of the corner surface of the attachment material LF.

An air inlet 211H is formed on the suction surface 211A of the first grip finger 211 as shown in the enlarged view of FIG. 3 and an air inlet 211H is formed on one side of the first grip finger 211 And an air suction path 211P extending from the air suction port 211H to the vacuum suction device (not shown) for generating a vacuum pressure on the suction surface 211A through suction of air is provided .

Accordingly, the first grip finger 211 is moved to the suction surface 211A of the first grip finger 211 through the vacuum suction device to suck air from the air suction port 211H connected thereto through the air suction path 211P The attachment material LF in contact with the absorption surface 211A of the first grip finger 211 is fixed to the absorption surface 211A by providing the vacuum adsorption force.

The suction surface 211A of the first grip finger 211 corresponding to the shape of the attachment material LF is pressed against the adhesive surface of the attachment material LF and the pressure portion 211A contacting the upper surface of the adhesive material LF facing the adhesive material LF -1 and a gripping portion 211A-2 which is in contact with a side surface of the attachment material LF which faces the surface to be pressed by the second grip finger 212, so that the suction of the first grip finger 211 The surface 211A does not function only as a portion for providing a clamping force through vacuum suction but when the attaching material LF that has been gripped and separated is attached to the mold frame MF at a later time, In order to improve the pressing performance of the second grip finger 212 from the upper side to the lower side necessary for the attachment, the second grip finger 212 grips the attachment material LF fixed by the first grip finger 211, When the grip portion 211A-2 is moved toward the finger 211 side, the grip portion 211A-2 corresponds to the pressing by the second grip finger 212 The mounting material (LF) may provide a contact surface that can be reliably gripped by the.

The second grip finger 212 is a finger element of the grip type structure for performing a grip type grip with the first grip finger 211. At the lower end of the second grip finger 212, The attachment material LF vacuum-adsorbed to the finger 211 is pressed toward the side in which the suction surface of the first grip finger 211 is formed (more specifically, the direction in which the grip portion 211A-2 is formed) The fingers 211 and the second grip fingers 212 hold the attachment material LF clearly so as not to fall off.

And the gripper 210 is not merely gripping or releasing a member located between the two narrow grip fingers such as a conventional grip gripper that narrows or stretches the gap between the two grippers, The interference of various members placed on the mold frame MF during the attaching operation does not occur depending on the attachment environment of the mold frame MF to be attached and the characteristics of the attaching material LF And a separate driving device 213 is provided to prevent breakage or deformation due to the gripping operation of the attaching material.

Here, each of the driving elements constituting the driving device 213 is preferably provided in a cylinder type so as to have a predetermined direction and to advance and retract the object. However, the present invention is not limited to this, and the respective driving elements may be reciprocating If the device can be made, various design modifications are possible.

More specifically, the driving device 213 is a device capable of reciprocating the first grip finger 211 up and down in a direction perpendicular to the working position TP or the mold frame MF 1 driving element 213a and the second grip finger 212 to the side of the first grip finger 211 or away from the side of the first grip finger 211, The second driving element 213b which can horizontally reciprocate between the opposite sides of the first driving element 211 (the forward and backward directions with reference to FIG. 3) and the second driving element 213b which is the same as the reciprocating direction of the first grip finger 211 by the first driving element 213a And a third driving component 213c capable of reciprocating the first and second grip fingers 211 and 212 simultaneously.

In other words, the first driving component 213a moves only the first grip finger 211 downward from the gripper 210 located above the working position TP or the mold frame MF to adhere to the working position TP For attaching an attaching material (LF) on the mold frame (MF), and for restoring the position of the first grip finger 211 after completing each of these work processes to the initial state . The second driving component 213b is used as a means for moving and adjusting the second grip finger 212 to grasp or release the gripping material LF vacuum-adsorbed to the first grip finger 211 .

9, when the gripper 210 constituting the gripper unit 210U is provided with at least two or more configurations, the third driving component 213c may be attached to the attachment member The gripper 210 'for performing the gripping or attaching operation of the first grip finger 211 and the second grip finger 210 is lowered to the working position TP or the mold frame MF side by a certain level, 2 < / RTI > grip finger 212 as shown in FIG.

The position of the gripper unit 210U provided with at least one or two or more of the grippers 210 of the above-described type, that is, the position of the gripper unit 210U through the gripper 210 constituting the gripper unit 210U, The gripper unit 210U having been completely separated and gripped on the working position TP is moved to the mold frame MF to be attached or the gripper unit 210U To the working position TP of the film feeder 100 for separation and grasping of a new attachment material LF and further to the attachment material LF or The grip type attachment device 200 includes a separate mobile device 220 so that an alignment can be made to increase the working accuracy with respect to the attachment position AP on the mold frame MF.

Here, the mobile device 220 includes a first moving element 221, a second moving element 222, and a second moving element 222 to provide a back-and-forth movement, a left-right movement, a vertical movement, and a rotational movement of the gripper unit 210U, A lifting element 223, and a rotating element 224. The lifting element 223 and the lifting element 223 are the same.

The first moving element 221 moves the gripper unit 210U horizontally between the upper side of the film F supplied to the working position TP and the upper side of the mold frame MF to which the attachment material LF is attached And more specifically to a guide rail provided so that the gripper unit 210U can move and a guide rail for moving the gripper unit 210U in a movable manner, Block.

The second moving element 222 is provided so as to reciprocate the gripper unit 210U in the direction perpendicular to the reciprocating direction and the horizontal plane of the gripper unit 210U by the first moving element 221, Specifically, it is preferable that the guide rail and the guide rail are provided so that the gripper unit 210U can move, and that the gripper unit 210U is movably coupled to the guide rail.

In addition, the lifting element 223 is provided so as to reciprocate the gripper unit 210U in a direction perpendicular to the reciprocating direction and the horizontal plane of the gripper unit 210U by the first moving element 221, It is preferable that the guide rail includes a guide rail provided for the gripper unit 210U to move and a rail block for movably coupling the gripper unit 210U to the guide rail.

The rotary element 224 is connected to the axis of the reciprocating direction of the gripper unit 210U by the lifting element 223 The gripper unit 210U is rotated to rotate the gripper unit 210U in a direction perpendicular to the horizontal plane of the gripper unit 210U. More specifically, And a pivot block for rotatably coupling the gripper unit 210U to the pivot shaft and the pivot shaft.

The grip type attaching device 200 relatively positions the gripper 210 to indirectly position the gripper 210 whose visibility is not ensured when the gripper 210 is aligned with the workpiece (Not shown).

Herein, the positioning member 230 is mounted on the gripper unit (not shown) so as to be exposed by the first alignment camera 300 or the second alignment camera 500, which will be described below, 210U. In addition, an alignment mark 230M is formed on one side of the positioning member 230 as a relative reference position of the alignment gripper 210. [

Such an alignment mark 230M can be variously implemented in a form having a symmetrical structure capable of calculating a certain level of visibility and accurate position value on the image information obtained through the camera.

In other words, in order to precisely align the gripper 210 with respect to the work position during the gripping or attaching operation, the gripper 210 is moved to the first aligning camera 300 or the second aligning camera 500, However, in order to observe the gripper 210 together with the workpiece positioned at the lower side from the upper side, a blind spot where the position of the gripper 210 is not recognized due to characteristics of the apparatus, occurs. The position of the alignment mark 230M of the positioning member 230 protruded outside the gripper unit 210U is photographed by the first alignment camera 300 or the second alignment camera 500, The controller 400 calculates and adjusts the position of the alignment mark 230M in the photographed image information so as to adjust the position of the gripper 210 and perform accurate alignment, Since the distance value D1 between the alignment mark 230M and the gripper 210 is set in advance.

On the other hand, the system of the present invention includes a first aligning camera 300 and a second aligning camera 500 for performing the above-described alignment process.

Herein, the first aligning camera 300 photographs the lower certain region RT1 on the upper side of the working position TP in order to perform an accurate grasping operation on the attachment material LF of the grip-type attaching apparatus 200 The image including information on the position of the attachment material LF 'to be the work target and information on the position of the alignment mark 230M of the grip type attachment device 200 located around the work position TP, And provides the information to the control device 400.

The second aligning camera 500 is arranged on the upper side of the attaching position AP on the mold frame MF in order to perform an accurate attaching operation to the attaching material LF of the grip- The information on the attachment position AP on the mold frame MF to be attached and the information on the alignment mark 230M of the grip type attachment device 200 located around the mold frame MF can be obtained, And provides the control device 400 with image information including information on the position.

Finally, the control device 400 includes the film supply device 100 described above; A grip type attachment device 200; A first alignment camera 300; And the second aligning camera 500 are controlled.

2. Explanation of gripping and attaching type of attaching material of grip type attachment device through material attachment system on mold frame for backlight unit

Referring to Figs. 5 to 7, description will be made of the attachment material (LF) gripping separation process through the gripper 210 of the grip type attachment device 200 in the material attachment system on the mold frame for the backlight unit of the present invention. The gripper 210 'of the gripper 210 constituting the gripper 210U is lowered to the overall working position TP by the third driving element 213c, Only the first grip finger 211 is lowered to abut on the attachment material LF adhering to the upper surface of the film F located on the working position TP by the first grip finger 213a. The first grip finger 211, which is so lowered as to be the subject of the work and which is in contact with the adsorption surface 211A, is provided with a vacuum adsorption force on the adsorption surface 211A by using a vacuum adsorption device, The object to be attached LF 'is fixed to the attraction surface 211A, and then the first driving element 213a lifts the object LF' and restores the height to the first pre-falling position. Finally, when the first grip finger 211 fixing the attachment material LF 'to be a work object through vacuum suction is returned to a height corresponding to the second grip finger 212, the second grip finger 212, Is moved to the side of the first grip finger 211 by the second driving element 213b and pushes the attached material LF 'fixed to the suction surface 211A of the first grip finger 211 to grip the attached material LF When the gripper 210 constituting the gripper unit 210U moves toward the mold frame MF for the attaching process after completion of the gripping process of the attaching material LF, It is preferable to move by the mobile device 220 while maintaining the grip state.

Here, the control of the operating states of the respective driving elements 213a, 213b, 213c and the structures of the vacuum adsorption device and the like is performed through the control device 400. [

More specifically, first, the control device 400 controls the third driving element 213c to move the gripper 210 ', which is a target of the job, out of the gripper 210 constituting the gripper unit 210U, The gripper 210 'is lowered to the working position TP as compared with the remaining grippers 210 so that the gripper 210' is positioned slightly closer to the attaching material LF adhering to the upper surface of the film F .

After the entire gripper 210 'is lowered to a certain level, the controller 400 controls the first driving element 213a to move the gripping surface 210' of the first grip finger 211 The first grip finger 211 is lowered so that the first grip finger 211A comes into contact with the attaching material LF 'to be a work target. 6, the control device 400 controls the vacuum adsorption device to suck air from the air suction port 211H formed on the suction surface 211A through the air suction path 211P to the vacuum adsorption device And a vacuum attraction force is applied to the attraction surface 211A so that the adhesion material LF 'to be a work target is fixed to the attraction surface 211A of the first grip finger 211. [

The separation and fixing of the attachment material LF 'of the first grip finger 211 as described above may be performed in such a manner that the two finger fingers of the conventional grip type structure are detached from the material to be separated, So that stable separation and fixation can be achieved without causing problems causing deformation.

The grip type attaching device 200 of the present invention differs from the conventional attaching device structure in which the gripping type two finger members perform gripping in such a manner that the gripping type gripping device is separated from both sides of the object to be separated, Only the fingers 211 perform separation and fixing operations from the upper side of the attaching material LF through the descending and rising and lowering processes so that the degree of interference with the peripheral structure is lowered and the attaching material LF, The manufacturing cost and the production cost can be lowered and the efficiency of the work can be improved.

The control device 400 controls the first driving element 213a so that the first grip finger 211 fixed to the suction surface 211A can return to the original height before the first lowering, The control device 400 controls the second driving element 213b to move the second grip finger 212 toward the first grip finger 211 side as shown in FIG. The gripping portion 211A-2 constituting part of the suction surface 211A of the grip finger 211 and the pressing surface of the second grip finger 212 are positioned between the two and the suction surface 211A of the first grip finger 211 The gripper unit 210U in the grip type attaching apparatus 200 in which the gripping force of the attaching material LF 'which has been vacuum-adsorbed on the grip member 210 is improved and the stable gripping is performed so that the attaching material LF' A stable fixing force can be continuously provided even in the process of moving to the mold frame MF side.

Next, with reference to Figs. 8 to 9, a process of attaching the attachment material LF through the gripper 210 of the grip type attachment device 200 in the material attachment system on the mold frame for the backlight unit of the present invention will be described. The gripper 210 'to be subjected to the work among the grippers 210 constituting the gripper unit 210U is lowered toward the mold frame MF as a whole by the third driving element 213c, The second grip finger 212 is moved to the opposite side of the first grip finger 211 by the driving element 213b and is gripped from the attached material LF 'fixed to the suction surface 211A of the first grip finger 211 So that the process of attaching the attachment material LF 'by the first grip finger 211 can be performed. The gripper 210 'to be subjected to the work is moved by the first driving element 213a so that only the first grip finger 211 attaches the attachment material LF to the attachment position AP on the mold frame MF Respectively. The first grip finger 211, which is attached to the attaching position AP on the mold frame MF by the attaching material LF 'which has been separated and fixed by being separated from the mold frame MF, The vacuum attraction between the attachment material LF 'attached to the attachment position AP and the absorption surface 211A is released, and at the same time, the first drive element 213a is further lowered by the first drive element 213a, A certain level of external force is exerted so that the pressing portion 211A-1 constituting a part of the attracting surface 211A adheres the attachment material LF 'to the attachment position AP on the mold frame MF a little more reliably.

Here, the control of the operating states of the respective driving elements 213a, 213b, 213c and the structures of the vacuum adsorption device and the like is performed through the control device 400. [

More specifically, if the gripper 210 'to be subjected to the work is gripped and separated from the attachment material LF' and then moved to the mold frame MF side, The second gripping finger 212 is moved to the opposite side of the first gripping finger 211 by controlling the second driving element 213b so that the gripping of the second gripping finger 212 to the attachment material LF ' And only the fixing force of the suction surface 211A of the first grip finger 211 is converted into a state in which the attachment material LF 'is provided, so that the attachment of the attachment material LF' by the first grip finger 211 So that attachment can be made.

9, the control device 400 controls the first driving component 213a so that the attached material LF 'fixed to the suction surface 211A of the first grip finger 211 is pressed against the mold The first grip finger 211 is lowered so as to be attached to the attachment position AP on the frame MF. Here, the controller 400 controls the vacuum adsorption apparatus at the time when the attachment material LF 'is brought into contact with the attachment position AP on the mold frame MF by the first grip finger 211, 211A-1 of the attaching surface 211A of the mold frame MF is released and the pressurizing portion 211A-1 forming part of the adsorption surface 211A is lowered and adhered to the attaching material LF ' The upper surface of the opposite side of the mold frame MF is pressed so that the attachment material LF 'is firmly attached to the attachment position AP on the mold frame MF.

Here, the attachment type LF 'of the first grip finger 211 is different from that of the first finger type attachment member LF' in that the two finger members of the conventional grip type structure are attached to each other, The grip type attaching device 200 of the present invention performs the attaching operation from the upper side of the mold frame MF through the downward movement and the vertical movement of the mold frame MF only by the first grip finger 211, The degree of interference is lowered, so that it is possible to perform a free attachment operation irrespective of the structure of various members laminated or installed on the mold frame (MF), and the problem of structural deterioration due to interference with the surrounding structure in the attaching process is eliminated .

The embodiments disclosed in the present invention are not intended to limit the scope of the present invention but to limit the scope of the technical idea of the present invention. The scope of protection is to be construed in accordance with the following claims, and all technical ideas within the scope of equivalents thereof should be construed as being included in the scope of the present invention.

100: Film feeder
110: Adsorption block F: Film material LF: Adhesive material
120: Material roller 130: First collecting roller 140: Second collecting roller
200: Grip type attachment device
210U: Gripper Unit
210: gripper
211: first grip finger
212: second grip finger
213: Driving device
220: Mobile device
222: first moving element 223: second moving element
224: lifting element
230: Positioning member
230M: Align mark
300: 1st Align camera
400: control device
500: 1st Align camera
MF: Mold frame

Claims (10)

A gripper unit including at least one gripper capable of gripping and separating a work attaching material from a plurality of attaching materials adhered to a film supplied to a work position and attaching the gripping material gripped on the mold frame;
A moving device capable of adjusting the position of the gripper unit; And
And a control device for controlling each operation of the gripper unit and the mobile unit,
The gripper
A first grip finger having a suction surface for fixing the attachment material through vacuum suction;
A second grip finger provided so as to press and grip an attached material fixed through the first grip finger toward the first grip finger; And
And a driving device capable of adjusting the position of the first grip finger or the second grip finger,
The driving device includes:
A first driving element capable of reciprocating the first grip finger up and down in a direction perpendicular to the working position or the mold frame; And
And a second driving element capable of horizontally reciprocating between the first grip finger side capable of gripping the second grip finger and the opposite side of the first grip finger capable of gripping the gripped gripping material, Characterized by comprising
Grip type attachment device.
The method according to claim 1,
Wherein the first grip finger has an air suction port formed on an adsorption surface thereof, and an air suction path communicating with the air suction port is formed in the first grip finger,
And a vacuum adsorption device connected to the air suction path and sucking air from the air suction port to fix an attachment material in contact with the adsorption surface to the adsorption surface through vacuum adsorption is provided at one side of the first grip finger
Grip type attachment device.
delete 3. The method of claim 2,
The control device is configured to separate the workpiece attachment material from the film supplied to the work position by the first grip finger and to fix the separated attachment material to the suction surface of the first grip finger through vacuum suction, And a vacuum adsorption device
Grip type attachment device.
5. The method of claim 4,
Characterized in that the control device controls the second driving element so as to grasp or grasp the attachment material fixed to the attracting surface of the first grip finger
Grip type attachment device.
3. The method of claim 2,
The driving device includes:
And a third driving element capable of reciprocating the first grip finger and the second grip finger simultaneously in the same direction as the reciprocating direction of the first grip finger by the first driving element
Grip type attachment device.
The method according to claim 6,
Wherein the gripper unit includes a plurality of grippers,
The control device moves the first grip finger and the second grip finger of the gripper to perform gripping or attaching operations among the plurality of grippers in the gripper unit by a certain distance to the working position side at the same time, And controls the third driving element so as to be located slightly closer to the second driving element
Grip type attachment device.
The method according to claim 1,
The mobile device comprising:
A first moving element capable of horizontally reciprocating between the upper side of the working position and the upper side of the mold frame;
A second moving element capable of reciprocating the gripper unit in a direction perpendicular to a reciprocating direction and a horizontal plane of the gripper unit by the first moving element;
A lifting element capable of vertically reciprocating the gripper unit in a direction perpendicular to the horizontal plane; And
A rotating element capable of rotating the gripper unit about a direction perpendicular to the horizontal plane; ≪ RTI ID = 0.0 >
Grip type attachment device.
3. The method of claim 2,
Wherein the suction surface of the first grip finger
A pressing portion abutting the upper surface of the adhesive material facing the adhesive surface of the adhesive material; And
And a gripping portion that is in contact with a side of the attachment material facing the surface to be pressed by the second grip finger of the side surface of the attachment material
Grip type attachment device.
10. The method of claim 9,
The control device controls the first driving element and the vacuum adsorption device so that the first grip finger attaches the attachment material to the attachment position on the mold frame and the attachment surface of the attachment material and the first grip finger are released Characterized by
Grip type attachment device.
KR1020150144795A 2015-10-16 2015-10-16 Grip type attachment apparatus KR101773771B1 (en)

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KR102267953B1 (en) * 2019-08-27 2021-06-22 세메스 주식회사 Die pickup module and die bonding apparatus including the same
KR102365660B1 (en) * 2019-08-27 2022-02-18 세메스 주식회사 Die pickup module and die bonding apparatus including the same
KR102284151B1 (en) * 2019-09-06 2021-07-30 세메스 주식회사 Die pickup module and die bonding apparatus including the same
CN111618900A (en) * 2020-05-20 2020-09-04 天津扬天科技有限公司 Multifunctional paw capable of taking and placing yarn and partition board
KR102557727B1 (en) * 2020-11-26 2023-07-24 주식회사 로보터블 Multi-joint cooperative robot for cooking noddles food, system and metod for cooking noodle food using the cooperative robot

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Publication number Priority date Publication date Assignee Title
KR101468979B1 (en) * 2013-03-11 2014-12-04 (주)소닉스 Back light unit assembling apparatus

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101468979B1 (en) * 2013-03-11 2014-12-04 (주)소닉스 Back light unit assembling apparatus

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