KR102109445B1 - Syringe unit changing apparatus and method, and viscous fluid dispenser having the same - Google Patents

Abstract

The present invention includes a frame, a stage on which the substrate to be dispensed and the viscous liquid to be dispensed is mounted, a head support installed across the top of the stage, and a head movably installed along the head support A viscous liquid dispenser comprising a unit, a syringe unit mounted on the head unit for storing and discharging viscous liquid, and a syringe replacement device for replacing the syringe unit, wherein the syringe unit stores a viscous liquid therein. Becoming syringe; And a discharging part for discharging the viscous liquid supplied from the syringe to the discharging object while communicating with the syringe. The syringe replacement device grips the syringe unit in which the syringe and the discharging part are integrally mounted to the head unit. Or, it provides a viscous liquid dispenser, characterized in that to detach the syringe unit from the head unit.

Description

Syringe unit replacement device and method and viscous liquid dispenser equipped with the same {SYRINGE UNIT CHANGING APPARATUS AND METHOD, AND VISCOUS FLUID DISPENSER HAVING THE SAME}

The present invention relates to a syringe unit replacement device and method for storing and discharging a viscous liquid, and a viscous liquid dispenser having the same.

In general, in a manufacturing process of an electronic device such as a flat panel display or a semiconductor package, a process such as mutual adhesion of parts or fluid filling is performed.

A flat panel display (FPD) such as a liquid crystal display (LCD) or an organic light emitting diode (OLED) display is manufactured by bonding two flat panels. For bonding two flat plates, a viscous liquid such as Paste or Sealant is dispensed on any one flat plate using a dispenser. On the other hand, when manufacturing a semiconductor package, epoxy is dispensed through a dispenser in a die bonding process. When dispensing a viscous liquid using a dispenser, a syringe for storing the viscous liquid is attached to the dispenser and used. It is required that the viscous liquid filled in the dispenser is completely consumed or replaced with a new syringe before it is consumed.

The exchange of syringes for storing viscous liquids can be done manually by the operator or through some automated syringe replacement system. As an example, Korean Patent Application Publication No. 10-2011-0066713 (published on June 17, 2011), filed by the applicant, discloses a syringe replacement system for automatically replacing a syringe and a paste dispenser having the same.

However, when the syringe is replaced through manual work, the operator must be directly involved, which is inconvenient and takes a lot of time to replace. In addition, even in the case of automatic replacement of the syringe, there may be a problem that the process of recognizing the syringe and detaching and installing the syringe from the head unit of the dispenser is not accurately performed.

In order to solve this problem, the present applicant has filed Korea Patent Application Publication No. 10-2017-0134088 (published on December 6, 2017) "A device and method for replacing a syringe unit and a viscous liquid dispenser having the same". According to the published patent publication, a configuration for replacing a syringe stored in a syringe storage unit using a syringe unit replacement device is disclosed.

On the other hand, the present invention is to provide an improved viscous liquid discharge compared to the prior art and to propose a technique for more effectively replacing the syringe unit.

An object of the present invention is to provide a syringe unit replacement device and method for automatically replacing a syringe unit capable of storing and discharging a viscous liquid and minimizing errors that may occur during replacement, and a viscous liquid dispenser having the same.

The present invention includes a frame, a stage on which the substrate to be dispensed and the viscous liquid to be dispensed is mounted, a head support installed across the top of the stage, and a head movably installed along the head support In the viscous liquid dispenser comprising a unit, a syringe unit mounted on the head unit for storing and discharging viscous liquid, and a syringe replacement device for replacing the syringe unit,

The syringe unit includes a syringe in which a viscous liquid is stored; And a discharging part for discharging the viscous liquid supplied from the syringe to a discharging object while communicating with the syringe. Or, it provides a viscous liquid dispenser, characterized in that to detach the syringe unit from the head unit.

In one embodiment, the discharge unit receives and stores the viscous liquid from the syringe and includes an auxiliary storage unit smaller than the volume of the syringe, and a nozzle through which the viscous liquid is discharged according to air pressure supplied to the auxiliary storage unit do.

In addition, an opening / closing valve is provided in a flow path through which the viscous liquid is transferred from the syringe to the auxiliary storage unit, and the opening / closing valve opens the flow path when supplying the viscous liquid of the syringe to the discharge portion so that supply of viscous liquid is achieved And, when the supply of the viscous liquid to the discharge portion is completed, the flow path may be blocked.

In addition, the head unit is provided with a water level sensor for sensing the water level of the viscous liquid inside the auxiliary storage unit, and the filling of the viscous liquid from the syringe to the auxiliary storage unit is controlled according to the sensing result of the water level sensor. Can be.

In addition, a first fitting part transmitting air pressure may be coupled to a first connection part of the syringe, and a second fitting part transmitting air pressure may be coupled to a second connection part formed in the discharge part and communicated with the auxiliary storage part.

In addition, the head unit may be provided with a first fitting mounting portion through which the first fitting portion is mounted, and a second fitting mounting portion through which the second fitting portion is mounted.

In addition, a gripper support portion gripped by the syringe unit replacement device may be formed on one side of the discharge portion. In one embodiment, the gripper support portion may be formed of a pair of first gripper support portions and second gripper support portions in a rod shape protruding from the discharge portion.

In addition, a connection portion protruding from the rear surface of the discharge portion may be provided, and a connection hole through which the connection portion is inserted and fixed may be formed in the head unit.

In addition, the present invention, a frame, a stage mounted on the frame and a substrate on which a viscous liquid is to be dispensed, a head support installed across the top of the stage, and a movable support along the head support In the syringe unit replacement device for replacing the syringe unit of the viscous liquid dispenser comprising a head unit, and a syringe unit for storing and discharging the viscous liquid is mounted on the head unit,

A terminal bound to the cancer in a form having at least 1 degree of freedom; A first gripping part provided at the end and including first and second grippers for gripping a first fitting part or a second fitting part connected to a syringe unit mounted on the head unit; And a second gripping part provided at the end in a direction different from the first gripping part, and including third and fourth grippers for gripping the syringe unit.

In one embodiment, each of the first fitting portion and the second fitting portion includes a first fitting and a second fitting projecting outward on an outer circumferential surface, and the first and second grippers include a first fitting portion. A first gripping groove into which the fitting is inserted and a second gripping groove into which the second fitting is inserted are provided.

In addition, the first gripping groove may be formed in a vertical direction so as to penetrate downward from both upper surfaces of the first and second grippers.

Further, the second gripping groove may be formed in a horizontal direction along the gripping surfaces facing each other of the first and second grippers so as to intersect with the first gripping groove.

In addition, the syringe unit is provided with a pair of a first gripper support portion and a second gripper support portion in the form of a protruding rod that is gripped by the second gripping portion, and the third and fourth grippers support the first gripper during gripping operation. And an insertion groove into which one end of the second gripper support is inserted.

In addition, the insertion groove may be formed on the gripping surfaces facing each other of the third and fourth grippers.

In addition, an image acquisition device is provided at the end, the first gripping part is located on one side of the image acquisition device, the second gripping part is located on the other side of the image acquisition device, and the image acquisition device and the agent The 1 gripping part and the second gripping part may rotate together.

In addition, the present invention, a frame, a stage mounted on the frame and a substrate on which a viscous liquid is to be dispensed, a head support installed across the top of the stage, and a movable support along the head support In the method of replacing the syringe unit of the viscous liquid dispenser comprising a head unit and a syringe unit that is mounted on the head unit to store and discharge viscous liquid,

Separating the first fitting part of the first pneumatic supply line and the second fitting part of the second pneumatic supply line into a first gripping part, which are connected to the syringe unit, and mounting the first fitting part and the second fitting part, respectively. ; Separating the syringe unit from the engaging area of the head unit by the gripping operation of the second gripping unit; Coupling another syringe unit to the head unit; And separating the first fitting part and the second fitting part mounted on the first fitting mounting part and the second fitting mounting part, and coupling the second fitting part to the other syringe unit that is replaced and coupled to the head unit. The unit provides a syringe unit replacement method characterized in that the syringe storing the viscous liquid and the discharge portion receiving the viscous liquid from the syringe are replaced in an integrated state.

In one embodiment, each of the first fitting portion and the second fitting portion includes a first fitting and a second fitting projecting outwardly on an outer circumferential surface, and the first and second grippers of the first gripping portion include the first A first gripping groove into which the first fitting of the first fitting portion is inserted and a second gripping groove into which the second fitting is inserted may be provided.

In addition, the discharge unit of the syringe unit is provided with a pair of a first gripper support portion and a second gripper support portion in the form of a protruding rod gripped by the second gripping portion, and the third and fourth grippers of the second gripping portion Is provided with an insertion groove into which one end of the first gripper support and the second gripper support is inserted during the gripping operation, so that the syringe unit can be transported while the first gripper support and the second gripper support are gripped.

In addition, a connection hole is provided in the coupling area of the head unit, and a connection portion is provided on one surface facing the connection hole of the syringe unit, and the connection portion is coupled to or separated from the connection hole, so that the syringe unit can be worn out. have.

According to the present invention, since the operation of replacing the syringe unit that has been used can be automatically performed, the convenience of the viscous liquid dispensing process is increased and the operation time can be shortened.

In addition, according to the present invention, while providing a new syringe unit for supplying a viscous liquid, the syringe unit can be integrated and replaceable, and when replacing, there is an effect of accurately holding the syringe unit and mounting the head unit.

1 is a view showing a viscous liquid dispenser having a syringe unit replacement device according to an embodiment of the present invention.
2 is a view showing a syringe unit mounted on the head unit in the viscous liquid dispenser according to an exemplary embodiment of the present invention.
3 is a perspective view schematically showing the configuration of a syringe unit of a viscous liquid dispenser according to an exemplary embodiment of the present invention.
4 is a view schematically showing the internal configuration of a syringe unit of a viscous liquid dispenser according to an embodiment of the present invention.
5 is a view showing a state in which the connecting portion of the syringe unit is coupled to the connecting hole of the head unit in the viscous liquid dispenser according to the preferred embodiment of the present invention.
6 is a perspective view of a syringe unit replacement device according to an embodiment of the present invention.
7 is a view showing a state in which the first gripping part grips the second fitting part according to an exemplary embodiment of the present invention.
8 is a view showing a state in which the second fitting part separated from the discharge part by the first gripping part is coupled to the first fitting mounting part of the head unit according to one preferred embodiment of the present invention.
9 is a view showing a state in which the first gripping part grips the first fitting part according to an exemplary embodiment of the present invention.
FIG. 10 is a view showing a state in which the first fitting part separated from the syringe by the first gripping part is coupled to the second fitting mounting part of the head unit according to one preferred embodiment of the present invention.
11 is a view showing a state in which the second gripping part grips the first gripper support part and the second gripper support part according to an exemplary embodiment of the present invention.
12 is a view showing a process of separating the syringe unit coupled to the head unit by a second gripping unit according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, when adding reference numerals to the components of each drawing, it should be noted that the same components have the same reference numerals as possible even though they are displayed on different drawings. In addition, in describing the present invention, when it is determined that detailed descriptions of related well-known structures or functions may obscure the subject matter of the present invention, detailed descriptions thereof will be omitted. In addition, although preferred embodiments of the present invention will be described below, the technical spirit of the present invention is not limited to or limited thereto, and can be variously implemented by a person skilled in the art.

<Viscous liquid dispenser>

1 is a view showing a viscous liquid dispenser having a syringe unit replacement device according to an embodiment of the present invention.

The viscous liquid dispenser 10 according to an embodiment of the present invention includes a frame 20 and a stage 50 on which an object, such as a substrate on which the viscous liquid is to be dispensed, is mounted, is mounted on the frame 20 and the stage The head support 30 is installed across the top of the (50), the head unit 40 is installed to be movable in the X-axis direction along the head support 30, and is mounted on the head unit 40, It includes a syringe unit 300 for storing and discharging a viscous liquid, and a syringe unit replacement device 100 for performing replacement of the syringe unit 300. In one embodiment, the head support 30 may be driven in the Y-axis direction. In addition, a robot guide rail 60 is provided on one side of the frame 20, and the syringe unit replacement device 100 may be movably installed along the robot guide rail 60. In addition, the syringe unit storage unit 200 for storing the syringe unit 300 before and after replacement is It may be provided at an accessible location of the syringe unit replacement device 100.

In the present invention, the replacement of the syringe unit 300 may be made when the amount of the viscous liquid stored in the syringe unit 300 mounted on the specific head unit 40 decreases below a predetermined value. In addition, the head unit 40 requiring replacement of the syringe unit 300 is moved to one side of the head support 30 to perform the replacement of the syringe unit 300 with the syringe unit replacement device 100, and another head unit 40, it may be possible to continuously discharge the viscous liquid to the substrate loaded on the stage (50). In FIG. 1, the syringe unit 300 is replaced with respect to the two head units 40 located on the left side of the head support 30, and the viscous liquid is discharged using the remaining head units 40 as an example. Shown.

<Head unit and syringe unit>

2 is a view showing a syringe unit mounted on the head unit in the viscous liquid dispenser according to an exemplary embodiment of the present invention. 3 is a perspective view schematically showing the configuration of a syringe unit of a viscous liquid dispenser according to an exemplary embodiment of the present invention, and FIG. 4 is an internal configuration of a syringe unit of a viscous liquid dispenser according to an exemplary embodiment of the present invention It is a schematic drawing.

The syringe unit 300 is mounted on the head unit 40. The head unit 40 may be provided with a first fitting holder 42, a second fitting holder 44 and a marker 46. In the process of newly installing the syringe unit 300 on the head unit 40 with the syringe unit replacement device 100 or replacing the syringe unit 300 mounted on the head unit 40, the first fitting unit 332 And the second fitting part 334 may be mounted on the first fitting mounting part 42 and the second fitting mounting part 44, respectively.

The syringe unit 300 includes a syringe 310 for storing a viscous liquid, and a discharge unit 320 for receiving and discharging the viscous liquid from the syringe 310. A first connection portion to which the first fitting portion is coupled may be provided on the upper portion of the syringe 310, and a scale 352 for checking the amount of viscous liquid may be displayed on the outer circumferential surface of the syringe 310. The syringe 310 may be formed of a transparent body. When the syringe 310 is a transparent body, the amount of viscous liquid remaining inside the syringe 310 can be visually confirmed. In one embodiment, the syringe 310 is coupled to the top of the discharge portion 320, the discharge portion 320 may be provided in the form of a housing having a predetermined shape. The syringe unit 300 is a mechanism for discharging the stored viscous liquid, the viscous liquid stored in the syringe 310 is supplied to the discharge unit 320 and the discharge unit 320 supplies the viscous liquid to the discharge object 400 such as a substrate. Discharge. The viscous liquid stored in the syringe 310 may be paste (sealant) for bonding a flat panel display panel formed by bonding two substrates or epoxy for a die bonding process.

In the present invention, the syringe 310 and the discharge unit 320 are prepared in a state in which they are coupled to each other, and when the syringe unit 300 is replaced with the syringe unit replacement device 100, the syringe unit 300 is integrally attached to the head unit 40 do.

Referring to FIG. 4, an auxiliary storage unit 340 is provided inside the discharge unit 320. The volume of the auxiliary storage unit 340 is preferably smaller than the volume of the syringe 310. In one embodiment, the volume of the auxiliary storage unit 340 may be 1/5 to 1/20 of the volume of the syringe 310. When the filling amount of the viscous liquid inside the auxiliary storage unit 340 is lower than the set water level, the viscous liquid stored in the syringe 310 may be supplied to the auxiliary storage unit 340.

Since the auxiliary storage unit 340 has a smaller volume than the syringe 310, it is possible to finely and precisely control the discharge of the viscous liquid. That is, as will be described later, air pressure is supplied to the auxiliary storage unit 340 to control the supply of viscous liquid from the auxiliary storage unit 340 to the nozzle 344. However, since the volume of the auxiliary storage unit 340 is small, pneumatic control is performed. There is an advantage that can be made finer. Conventionally, the discharge amount was controlled depending on the air pressure supplied to the syringe 310, but it was difficult to precisely control the pneumatic pressure because the volume of the syringe 310 was large. However, as the auxiliary storage unit 340 is employed, there is an advantage that more precise discharge control is possible.

In more detail, air pressure is applied to the syringe for discharging the viscous liquid. If the syringe capacity is increased, the space in which the air of the syringe is present increases as the viscous liquid is discharged from the syringe. When adjusting the amount of pressure applied to the pressure, the pressure is transmitted to the surface of the viscous liquid by the air in the space, so a time delay may occur in the adjustment of the pressing force with the viscous liquid. For this reason, in order to discharge the fine viscous liquid pattern to the flat panel display with good precision, it is necessary to frequently adjust the pressure reduction of the viscous liquid in the syringe, but it has been difficult to control with the existing syringe structure.

 However, in the present invention, the viscous liquid stored in the syringe 310 is reduced to an auxiliary storage unit 340 smaller than the volume of the syringe 310, and the viscous liquid is discharged from the auxiliary storage unit 340 to the discharge object 400. , Through the mechanism for supplying the positive or negative pressure to the auxiliary storage unit 340 can solve the problem of the existing syringe device.

The viscous liquid of the syringe 310 moves from the syringe 310 to the auxiliary storage 340 along the flow path 354. As an example, the flow path 354 may be a pipe line connecting the syringe 310 and the auxiliary storage unit 340. The flow path 354 may be provided with an on-off valve 346. The on-off valve 346 controls the flow of viscous liquid flowing along the flow path 354. In one embodiment, the on-off valve 346 may be a solenoid valve, but in the practice of the present invention, the on-off valve 346 may be applied to any valve that can open and close the flow path 354. .

The first fitting 332a of the first fitting portion 332 is coupled to the first connection portion 312 of the syringe 310. A first pneumatic supply line 336A is connected to the first fitting part 332, and air pressure is supplied from the first pressure source 338A to the syringe 310 through the first pneumatic supply line 336A. The air pressure supplied to the syringe 310 may be positive pressure or negative pressure. When a positive pressure is supplied, the viscous liquid stored in the syringe 310 may be delivered to the auxiliary storage unit 340 of the discharge unit 320. When the viscous liquid is to be supplied from the syringe 310 to the auxiliary storage unit 340, the on-off valve 346 is opened, and when the supply of the viscous liquid is finished, the on-off valve 346 may be closed.

A second connection part 322 is provided at the discharge part 320, and a second fitting 334a of the second fitting part 334 is coupled to the second connection part 322. The second connection part 322 communicates with an inner space of the auxiliary storage part 340 (in an embodiment, an inner upper end of the auxiliary storage part 340). A second pneumatic supply line 336B is connected to the second fitting part 334 and air pressure is supplied from the second pressure source 338B to the auxiliary storage part 340 through the second pneumatic supply line 336B. The air pressure supplied to the auxiliary storage unit 340 may be positive pressure or negative pressure. When a positive pressure is supplied, the viscous liquid inside the auxiliary storage unit 340 is pressurized and discharged to the nozzle 344. When negative pressure is supplied, discharge from the nozzle 344 is stopped.

The discharge unit 320 may be provided with a water level sensor 342 and a heater 348. The water level sensor 342 detects the water level of the viscous liquid in the auxiliary storage unit 340. The water level sensor 342 may be a laser distance sensor. In this case, the water level sensor 342 is provided above the auxiliary storage unit 340 of the discharge unit 320, and light for sensing the water level sensor 342 is transmitted through the auxiliary storage unit 340. A window that can be formed can be formed. The heater 348 is provided on one side of the auxiliary storage unit 340. The heater 348 can maintain an optimum temperature suitable for discharging the viscous liquid.

The control unit, not shown, stops discharging, opens and closes the opening / closing valve 346 when the water level inside the auxiliary storage unit 340 falls below a predetermined value according to the sensing value of the water level sensor 342, and the syringe ( A positive pressure is supplied to 310 to allow the viscous liquid of the syringe 310 to be delivered to the auxiliary storage 340. Meanwhile, the control unit shuts off the on / off valve 346 when the level inside the auxiliary storage unit 340 exceeds a predetermined value according to the sensing value of the water level sensor 342 to fill the viscous liquid into the auxiliary storage unit 340. To stop. On the other hand, the nozzle 344 may be a structure located at the bottom of the auxiliary storage unit 340 or a structure connected to the auxiliary storage unit 340 by a flow path.

The process of discharging the viscous liquid through the discharge part 320 will be described in more detail as follows. A positive pressure is supplied into the auxiliary storage unit 340 while the viscous liquid is charged to the auxiliary storage unit 340 provided in the discharge unit 320 at a set water level. At this time, the flow path 354 connecting the syringe 310 and the auxiliary storage unit 340 is blocked by the operation of the on-off valve 346.

As the positive pressure is supplied to the auxiliary storage unit 340, the viscous liquid of the auxiliary storage unit 340 is discharged to the discharge object 400 through the nozzle 344.

On the other hand, gripper support portions 324 and 326 are provided on one side of the discharge portion 320. In one embodiment, the gripper support portions 324 and 326 may be provided as a pair of first gripper support portions 324 and second gripper support portions 326 in the form of rods protruding from the discharge portion 320. 2 and 3, the first gripper support portion 324 and the second gripper support portion 326 are disposed in the vertical direction, but it is also possible to be disposed in the horizontal direction. The first gripper support portion 324 and the second gripper support portion 326 are portions gripped by the third gripper 141 and the fourth gripper 142 of the syringe unit replacement device 100 to be described later. When the syringe unit 300 is replaced, the third gripper 141 and the fourth gripper 142 grip the gripper support portions 324 and 326. In one embodiment, the gripper support portions 324 and 326 may be provided on the front surface of the discharge portion 320.

In addition, a connection portion 328 may be provided on the rear surface of the discharge portion 320. In one embodiment, the connecting portion 328 may be configured in a rod shape. In addition, a groove 329 may be formed on the outer circumferential surface of the connection portion 328.

5 is a view showing a state in which the connecting portion of the syringe unit is coupled to the connecting hole of the head unit in the viscous liquid dispenser according to the preferred embodiment of the present invention.

The connection part 328 may be inserted into the connection hole 48 provided in the coupling area of the head unit 400. In the connection hole 48, a locking device 49 may be provided to securely connect the connection portion 328. The engagement device 49 can utilize various types of known configurations in the present invention. For example, the engagement device 49 may be a engagement structure that holds the connection portion 328 as a ball. In addition, the engagement device 49 may be configured to be coupled to the groove 329 formed in the connection portion 328. In addition, the engagement device 49 may fix or release the connection 328 according to electronic control.

<Syringe unit replacement device>

The following describes a syringe unit replacement device according to an embodiment of the present invention.

6 is a perspective view of a syringe unit replacement device according to an embodiment of the present invention.

The syringe unit replacement device 100 may be a multi-joint structure capable of safely replacing the syringe unit 300. The syringe unit replacement device 100 may replace the syringe unit replacement device 100 while moving along the robot guide rail 60.

The syringe unit replacement device 100 separates the syringe unit 300 that needs to be mounted on the head unit 40 and transfers the syringe unit 300 to a specific storage location, and is provided in the syringe unit storage 200 The new syringe unit 300 performs a function of mounting the coupling unit of the head unit 40.

The syringe unit replacement device 100 may be composed of an articulated robot arm 110.

The syringe unit replacement device 100 may be a multi-joint robot arm having 6 degrees of freedom (DOF). As the configuration of the syringe unit replacement device 100, various types of known configurations can be utilized in the present invention.

The end 112 of the syringe unit replacement device 100 is in the form of a rotatable module and may be configured to meet one degree of freedom.

An image acquiring device 120 such as a camera for acquiring an image may be provided at the distal end 112 of the rotatable arm 110. Position information of a specific configuration may be determined from the image acquired by the image acquisition device 120. As an example, the image acquisition device 120 may provide location information such as a marker 46.

The first gripping part 130 and the second gripping part 140 are provided on both sides of the image acquiring device 120 around the image acquiring device 120.

The positions of the image acquisition device 120, the first gripping unit 130, and the second gripping unit 140 may be variously configured as necessary. The first gripping part 130 and the second gripping part 140 may be rotatable around a connection portion of the end 112.

The image acquisition device 120, the first gripping unit 130, and the second gripping unit 140 may each have individual driving units. In this case, the movement may be more free, but the production cost may increase because the operating space must be sufficiently secured. However, when the image acquisition device 120, the first gripping unit 130, and the second gripping unit 140 are provided together in the common arm 110, there is an advantage of reducing the installation area and cost of the device.

The image acquisition device 120 acquires and determines at least one image of a syringe unit 300, a first fitting portion 332, a second fitting portion 334, and a marker 46 mounted on the head unit 40. can do.

The image data acquired from the image acquisition device 120 may be analyzed by a control unit (not shown), and operation of the arm 110 and the first gripping unit 130 and the second gripping unit 140 may be controlled. The image data acquired from the image acquisition device 120 can be monitored in real time.

The head unit 40 may be provided with a marker 46 indicating the positions of the first fitting holder 42 and the second fitting holder 44. In addition, a predetermined other marker may be additionally provided in the syringe unit 300, the first fitting portion 332, the second connection portion 322, and the like.

7 is a view showing a state in which the first gripping part grips the second fitting part according to an exemplary embodiment of the present invention.

The first gripping part 130 includes a main body 133 and a pair of first grippers 131 and second grippers 132 connected to the main body 133. The first gripper 131 and the second gripper 132 may grip or release the object to be gripped through an operation that approaches or moves away from each other.

The first gripper 131 and the second gripper 132 grip the second fitting portion 334, which is an object to be gripped. In one embodiment, the first gripper 131 and the second gripper 132 of the first gripping unit 130 are on the outer surface of the second fitting unit 334 connected to the ends of the second pneumatic supply line 336B. The portion of the second fitting 334a provided is gripped.

The first gripper 131 and the second gripper 132 of the first gripping unit 130 are operated while moving forward and backward while holding the second fitting 334a of the second fitting unit 334 while the syringe unit 300 ), The second fitting part 334 coupled to or detached from the second fitting part 334 may be coupled to the syringe unit 300 again.

The first and second grippers 131 and 132 grip the second fitting portion 334 in a manner that surrounds the fitting 334a provided on the outer periphery of the second fitting portion 334.

The first and second grippers 131 and 132 include first and second gripping grooves 134 and 135, such as "c" corresponding to the fitting 334a.

The fittings 334a protruding from the outer surfaces of the second fitting parts 334 may be firmly gripped by the first and second gripping grooves 134 and 135. Since the second fitting 334a of the second fitting portion 334 is inserted into the first and second gripping grooves 134 and 135, the second fitting portion 334 is engaged with the first and second grippers 134 and 135 There is no fear of falling during the movement of the syringe unit replacement device 100.

The first gripping groove 134 forming a pair of left and right sides is configured to firmly grip the fitting 334a of the second fitting portion 334 coupled in the horizontal direction to the discharge portion 320. The first gripping groove 134 may be formed as a groove penetrating downward from the upper surfaces of the first and second grippers 131 and 132.

9 is a view showing a state in which the first gripping part grips the first fitting part according to an exemplary embodiment of the present invention.

The first fitting in the state in which the first fitting portion 332 coupled to the upper portion of the syringe 310 is erected in the substantially vertical direction by the second gripping groove 135 provided in the first and second grippers 131 and 132. (332a) can be held firmly.

The second gripping groove 135 is formed on the gripping surfaces 136 facing each other of the first and second grippers 131 and 132.

The first fitting portion 332 of the vertically erected state has an outer peripheral portion of the first fitting portion 332 having a smaller diameter than the fitting 332a as the fitting 332a portion is inserted into the second gripping groove 135. Inserted into the first gripping groove 134, a solid gripping state can be achieved.

The second gripping part 140 may be located on the opposite side of the first gripping part 130.

The first gripping part 130 is used to separate and combine the first fitting part 332 and the second fitting part 334, and the second gripping part 140 is a syringe unit coupled to the head unit 40. Used to separate and combine (300).

The second gripping part 140 includes a main body 144 and a pair of third grippers 141 and a fourth gripper 142 connected to the main body 144. The second gripping part 140 includes a first gripper support part 324 and a second provided on the syringe unit 300 that is a gripping object while the third gripper 141 and the fourth gripper 142 operate closer to or farther from each other. The gripper support portion 326 is gripped or released.

The first gripper support 324 and the second gripper support 326 are protruded. The third gripper 141 and the fourth gripper 142 simultaneously grip the first gripper support 324 and the second gripper support 326 while operating in the vertical direction during the gripping operation.

The third gripper 141 and the fourth gripper 142 are provided with the first gripper support 324 and the second gripper support 326 for firm gripping of the first gripper support 324 and the second gripper support 326. Insertion grooves 143 are provided on the surfaces facing each other.

During the gripping operation of the third gripper 141 and the fourth gripper 142, the first gripper supporter 324 and the end portions of the second gripper supporter 326 are partially inserted into the insertion groove 143. Since the 3 grippers 141 and the 4th grippers 142 are bitten, a solid grip can be achieved.

Due to this, when the syringe unit replacement device 100 moves, there is no fear that the syringe unit 300 may detach from the third gripper 141 and the fourth gripper 142, and the syringe unit 300 can be safely transported.

The following describes a method of replacing a syringe unit according to an embodiment of the present invention.

The replacement of the syringe unit 300 coupled to the head unit 40 in the viscous liquid dispenser 10 may be performed by the syringe replacement device 100.

When replacing the syringe unit 300, the first and second fitting parts 332 and 334 connected to the syringe unit 300 should be separated. At this time, it is preferable to temporarily fix it in an appropriate position to minimize interference by the first and second pneumatic supply lines 336A and 336B and the first and second fitting parts 332 and 334 during the replacement process.

The second fitting portion 334 of the second pneumatic supply line 336B coupled horizontally to the discharge portion 320 as shown in FIG. 7 is gripped with the first and second grippers 131 and 132 to discharge the portion 320 The second fitting portion 334 coupled to the second connection portion 322 of the separation.

When gripping the second fitting portion 334 with the first and second grippers 131 and 132, the second fitting 334a of the second fitting portion 334 is the first of the first and second grippers 131 and 132. It is inserted into the gripping groove 134.

The second fitting holder 44 provided in the head unit 40 by moving the separated second fitting unit 334 to the head unit 40 so as not to interfere with the replacement of the syringe unit 300 as shown in FIG. To be mounted on. When the second fitting portion 334 is coupled to the second fitting mounting portion 44, the first gripper 131 and the second gripper 132 are opened to release the gripping state of the second fitting portion 334.

The second fitting mounting portion 44 may be provided to protrude forward in a horizontal state like the separated second fitting portion 334, and the second fitting mounting portion 44 is the second connection portion of the discharge portion 320 When provided in the same shape and direction as 322, the second fitting portion 334 can be easily coupled to the second fitting mounting portion 44.

Since the second fitting 334a portion of the second fitting portion 334 moves to the head unit 40 while being inserted into the first gripping groove 134, the second fitting portion 334 is the first and second grippers (131, 132) to minimize the fear of departure.

9, the first fitting portion 332 of the first pneumatic supply line 336A coupled to the syringe 310 in a vertical state is gripped with the first and second grippers 131 and 132 to remove the syringe 310. 1 Separate the first fitting part 332 coupled to the connection part 312.

10, the syringe unit replacement device 100 is moved to the head unit 40, and the first fitting part 332 is coupled to the first fitting mounting part 42 of the head unit 40 and stored safely.

The first fitting 332a portion of the first fitting portion 332 is inserted into the second gripping groove 135 and moved to the head unit 40 in a state of being firmly engaged with the first and second grippers 131 and 132. Therefore, during the transfer of the pneumatic supply line 336, the pneumatic supply line 336 minimizes the possibility of departure from the first and second grippers 131 and 132.

The first fitting mounting portion 42 may be provided to protrude upward in a vertical state like the separated first fitting portion 332, and the first fitting mounting portion 42 is the first connection portion of the syringe 310 ( If provided in the same shape and direction as 312), the first fitting portion 332 can be easily coupled to the first fitting mounting portion 42.

On the other hand, when the marker 46 is provided on the head unit 40, the syringe unit replacement device 100 easily determines the positions of the first fitting holder 42 and the second fitting holder 44, The first fitting portion 332 and the second fitting portion 334 may be accurately coupled to the first fitting mounting portion 42 and the second fitting mounting portion 44.

11 is a view showing a state in which the second gripping part grips the first gripper support part and the second gripper support part according to one preferred embodiment of the present invention, and FIG. 12 is a second grip according to a preferred embodiment of the present invention It is a view showing the process of separating the syringe unit coupled to the head unit by the ping portion.

11 and 12 (a), the first gripper support portion 324 and the second gripper support portion 326 of the syringe unit 300 are held at the same time by the third and fourth grippers 141 and 142.

When the third and fourth grippers 141 and 142 are pulled as shown in FIG. 12 (b), the syringe unit 300 is separated from the coupling area of the head unit 40. As the connecting portion 328 coupled to the connecting hole 48 is separated from the connecting hole 48, the syringe unit 300 is separated.

The syringe unit 300 is held by the third and fourth grippers 141 and 142 in a state in which the third and fourth grippers 141 and 142 are reversed so as not to collide with other structures during the separation process of the syringe unit 300. Separated while moving horizontally.

Easy gripping and syringe unit 300 because one end of the first gripper support 324 and the second gripper support 326 is inserted into the insertion groove 143 of the third gripper 141 and the fourth gripper 142. Can be safely transported.

The syringe unit replacement device 100 places the separated old syringe unit 300 in a designated place and moves to the syringe unit storage 200 along the robot guide rail 60. In some cases, it may be possible to store the old syringe unit 300 separated in the syringe unit storage 200. The syringe unit replacement device 100 moved to the syringe unit storage 200 grips a new syringe unit 300 provided in the syringe unit storage 200.

Specifically, the syringe unit replacement device 100 grips the first gripper support 324 and the second gripper support 326 of the new syringe unit 300 with the third gripper 141 and the fourth gripper 142.

The syringe unit replacement device 100 moves to the head unit 40 along the robot guide rail 60. The syringe unit replacement device 100 couples the new syringe unit 300 to the coupling area of the empty head unit 40 by removing the old syringe unit 300.

When the new syringe unit 300 is coupled to the coupling area of the head unit 40, the connection unit 328 of the new syringe unit 300 is coupled to the connection hole 48 of the head unit 40 while the syringe unit 300 A solid bond is made. The connection part 328 may be provided on one surface of the syringe unit 300 facing the connection hole 48. The connection hole 48 is formed in a form conforming to the connection portion 328.

On the other hand, since the connection hole 48 is equipped with a locking device 49 for holding the connection portion 328 when the connection portion 328 is coupled, it is possible to maintain a solid connection state.

Next, the first fitting part 332 connected to the first pneumatic supply line 336A and the second fitting part connected to the second pneumatic supply line 336B ( 334) is connected to the first connection portion 312 of the syringe 310 of the new syringe unit 300 and the second connection portion 322 of the discharge portion 320.

Specifically, the first fitting portion 332 coupled to the first fitting mounting portion 42 of the head unit 40 is held by the first and second grippers 131 and 132, and then the first fitting portion 332 is raised. And lift to separate. When gripping the first fitting portion 332 with the first and second grippers 131 and 132, the first fitting 332a of the first fitting portion 332 is the second gripping of the first and second grippers 131 and 132 Fitted into the groove 135, and at the same time, the outer periphery of the first fitting portion 332 is fitted into the first gripping groove 134, so that a solid engagement state can be achieved.

The separated first fitting part 332 is transferred to the syringe 310 and coupled to the first connection part 312 provided on the upper part of the syringe 310.

Next, the second fitting portion 334 is rearward while holding the second fitting portion 334 coupled to the second fitting mounting portion 44 of the head unit 40 with the first and second grippers 131 and 132. Pull it apart.

When gripping the second fitting portion 334 with the first and second grippers 131 and 132, the second fitting 334a of the second fitting portion 334 is the first gripping of the first and second grippers 131 and 132 Since it fits into the groove 134, a solid engagement state can be achieved.

The separated second fitting part 334 is transferred to the discharge part 320 to be coupled to the second connection part 322 provided on the side of the discharge part 320.

After the syringe unit 300 is mounted on the head unit 40 and the first and second fitting parts 332 and 334 are coupled to the syringe unit 300, the syringe unit replacement device 100 moves to the standby position to move the syringe unit ( 300) is completed.

The above description is merely illustrative of the technical spirit of the present invention, and those of ordinary skill in the art to which the present invention pertains may make various modifications, changes, and substitutions without departing from the essential characteristics of the present invention. will be. Therefore, the embodiments and the accompanying drawings disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain the scope of the technical spirit of the present invention. . The scope of protection of the present invention should be interpreted by the claims below, and all technical spirits within the equivalent range should be interpreted as being included in the scope of the present invention.

10: viscous liquid dispenser 20: frame
30: head support 40: head unit
42: first fitting mounting portion 44: second fitting mounting portion
46: marker 48: access hole
50: stage 60: robot guide rail
100: syringe unit replacement device 110: arm
120: image acquisition device 130: the first gripping unit
131: first gripper 132: second gripper
140: second gripping part 141: third gripper
142: fourth gripper 200: syringe unit storage
300: syringe unit 310: syringe
312: first connection portion 320: discharge portion
322: 2nd connection part 324: 1st gripper support part
326: second gripper support portion 328: connecting portion
332: first fitting portion 334: second fitting portion
340: auxiliary storage unit 342: water level sensor
344: nozzle 346: on-off valve
348: heater 400: discharge object

Claims (20)

A frame, a stage mounted on the frame and a substrate on which a viscous liquid is to be dispensed is mounted, a head support installed across the top of the stage, and a head unit movably installed along the head support, and In the viscous liquid dispenser is mounted on the head unit and includes a syringe unit for storing and discharging a viscous liquid, and a syringe replacement device for replacing the syringe unit,
The syringe unit includes a syringe in which a viscous liquid is stored; And a discharge unit communicating with the syringe and discharging the viscous liquid supplied from the syringe to the discharge object.
The syringe replacement device grips the syringe unit in which the syringe and the discharge unit are integrally mounted and is mounted on the head unit, or the syringe unit is detached from the head unit,
The discharge unit receives the viscous liquid from the syringe and stores it, and includes an auxiliary storage unit smaller than the volume of the syringe and a nozzle through which the viscous liquid is discharged according to the air pressure supplied to the auxiliary storage unit. Liquid dispenser. delete According to claim 1,
A flow path through which the viscous liquid is transferred from the syringe to the auxiliary storage unit is provided with an opening / closing valve, and the opening / closing valve opens the flow path when supplying the viscous liquid of the syringe to the discharge portion, thereby supplying viscous liquid, When the supply of the viscous liquid to the discharge portion is completed, the viscous liquid dispenser, characterized in that to block the flow path. According to claim 1,
In the head unit, a water level sensor for sensing the water level of the viscous liquid inside the auxiliary storage unit is provided, and the filling of the viscous liquid from the syringe to the auxiliary storage unit is controlled according to the sensing result of the water level sensor. Viscous liquid dispenser. According to claim 1,
A viscous liquid, characterized in that a first fitting part for transmitting air pressure is coupled to the first connection part of the syringe, and a second fitting part for delivering air pressure is coupled to a second connection part formed in the discharge part and communicating with the auxiliary storage part. dispenser. The method of claim 5,
The head unit is a viscous liquid dispenser, characterized in that provided with a first fitting mounting portion to which the first fitting portion is mounted, and a second fitting mounting portion to which the second fitting portion is mounted. According to claim 1,
A viscous liquid dispenser characterized in that a gripper support portion gripped by the syringe replacement device is formed on one side of the discharge portion. The method of claim 7,
The gripper support is a viscous liquid dispenser, characterized in that it consists of a pair of first gripper support and second gripper support in the form of a rod protruding from the discharge portion. According to claim 1,
A viscous liquid dispenser according to claim 1, wherein a connection portion is formed on the rear surface of the discharge portion, and a connection hole through which the connection portion is inserted and fixed is formed. A frame, a stage mounted on the frame and a substrate on which a viscous liquid is to be dispensed is mounted, a head support installed across the top of the stage, and a head unit movably installed along the head support, and In the syringe unit replacement device for replacing the syringe unit of the viscous liquid dispenser which is mounted on the head unit and includes a syringe unit for storing and discharging viscous liquid,
A terminal bound to the cancer in a form having at least 1 degree of freedom;
A first gripping part provided at the end and including first and second grippers for gripping a first fitting part or a second fitting part connected to a syringe unit mounted on the head unit; And
It includes a second gripping portion provided at the end in a direction different from the first gripping portion, and including third and fourth grippers for gripping the syringe unit.
The syringe unit is provided with a pair of a first gripper support portion and a second gripper support portion in the form of a protruding rod gripped by the second gripping portion, so that the second gripping portion includes the first gripper support portion and the second gripper support portion. Conveying the syringe unit by gripping
Syringe unit replacement device characterized in that. The method of claim 10,
Each of the first fitting part and the second fitting part includes a first fitting and a second fitting protruding outwardly on an outer circumferential surface, and the first fitting part of the first fitting part is inserted into the first and second grippers. Syringe unit replacement device, characterized in that the second groove is provided with a grip groove and a second fitting is inserted. The method of claim 11,
The first gripping groove,
Syringe unit replacement device, characterized in that formed in the vertical direction to penetrate downward from the upper surface on both sides of the first and second grippers. The method of claim 11,
The second gripping groove,
Syringe unit replacement device, characterized in that formed in a horizontal direction along the gripping surfaces facing each other of the first and second grippers so as to cross the first gripping groove. The method of claim 10,
The third and fourth grippers have a syringe unit replacement device, characterized in that it has an insertion groove into which one end of the first gripper support and the second gripper support is inserted during gripping operation. The method of claim 14,
The insertion groove,
Syringe unit replacement device, characterized in that formed on the gripping surfaces facing each other of the third and fourth grippers. The method according to any one of claims 10 to 15,
An image acquisition device is provided at the end, the first gripping part is located on one side of the image acquisition device, and the second gripping part is located on the other side of the image acquisition device, and the image acquisition device and the first grip Syringe unit replacement device, characterized in that the ping portion and the second gripping portion are rotatable together. A frame, a stage mounted on the frame and a substrate on which a viscous liquid is to be dispensed is mounted, a head support installed across the top of the stage, and a head unit movably installed along the head support, and In the method of replacing the syringe unit of the viscous liquid dispenser mounted on the head unit and including a syringe unit for storing and discharging viscous liquid,
Separating the first fitting part of the first pneumatic supply line and the second fitting part of the second pneumatic supply line into a first gripping part, which are connected to the syringe unit, and mounting the first fitting part and the second fitting part, respectively. ;
Separating the syringe unit from the engaging area of the head unit by the gripping operation of the second gripping unit;
Coupling another syringe unit to the head unit; And
Separating the first fitting part and the first fitting part and the second fitting part mounted on the second fitting mounting part and coupling the second fitting part to the other syringe unit exchanged and coupled to the head unit;
It includes,
The syringe unit is a syringe unit for storing the viscous liquid and the syringe unit replacement method, characterized in that the discharge portion receiving and receiving the viscous liquid from the syringe is replaced in an integrated state. The method of claim 17,
Each of the first fitting part and the second fitting part includes a first fitting and a second fitting projecting outwardly on an outer circumferential surface, and the first fitting part of the first fitting part is provided to the first and second grippers of the first gripping part. Syringe unit replacement method characterized in that the first gripping groove is inserted and a second gripping groove into which the second fitting is inserted. The method of claim 17,
The discharge unit of the syringe unit is provided with a pair of a first gripper support portion and a second gripper support portion in the form of a protruding rod gripped by the second gripping portion,
The third and fourth grippers of the second gripping part have insertion grooves into which one end of the first gripper support part and the second gripper support part are inserted during gripping operation, thereby gripping the first gripper support part and the second gripper support part Syringe unit replacement method, characterized in that for transporting the syringe unit. The method of claim 17,
A connection hole is provided in a coupling area of the head unit, and a connection portion is provided on one surface facing the connection hole of the syringe unit, and the connection portion is coupled to or separated from the connection hole, so that the syringe unit is demounted. How to replace the syringe unit.

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