KR102429672B1 - Discharging Device for Substrate for Manufacturing Micro Needle and Method for Controlling the Same - Google Patents

Abstract

The present invention relates to an apparatus for discharging a microneedle manufacturing substrate capable of automating the separation, sorting and loading of a microneedle manufacturing substrate body, and a method for controlling the same. It is installed on the substrate, and the junction substrate carrying-in unit for carrying in the microneedle production substrate body in the state where the first and second substrates are bonded, and the first substrate and the second substrate by receiving the microneedle production substrate body from the cemented substrate carrying-in part A fusion substrate separation unit for separating the junction substrate separation unit, a substrate sorting unit for sorting and seating the first and second substrates separated in the first and second trays, respectively, on the first and second trays, and the first and second substrates are sorted There is provided a microneedle manufacturing substrate discharging equipment including a tray loading unit for loading the first tray and the second tray that are seated therein.

Description

Discharging Device for Substrate for Manufacturing Micro Needle and Method for Controlling the Same

The present invention relates to a device for discharging a microneedle manufacturing substrate and a control method thereof, and more particularly, to a device for discharging a microneedle manufacturing substrate capable of automating the separation, sorting and loading of a microneedle manufacturing substrate body and a method for controlling the same. .

In general, in order to deliver drugs for the treatment or beauty of a disease into the body, oral administration through formulations such as capsules, powders, syrups, or direct injection into muscles, subcutaneous fat, or blood vessels using liquid form drugs The injection method is used.

It is also applied in the form of a patch or ointment to absorb the drug through the skin.

However, the injection method entails pain and infection risk for the patient because the needle has to pierce the skin, and there is a concern that a medical accident is caused in the process of piercing the skin, so it is inconvenient that a specialist must perform it.

In addition, conventional drugs applied in the form of patches or ointments do not pierce the skin, so there is no pain and convenience, and the risk of medical accidents during the inoculation process is small. There were limitations in efficiency, etc.

Therefore, there is a need for a new inoculation method and device that can be easily applied like a patch method and can have an effect similar to an injection method.

To this end, recently, an inoculation method using a microneedle has been studied.

This is because the drug itself is manufactured in the form of a very fine needle or is formed in the form of a needle penetrating the epidermal layer of the skin, so that the inoculator does not feel pain, and there is no trauma left, so there is no fear of scarring and infection. .

However, in order to mass-produce these microneedles, automation equipment is essential, and the need for automation equipment suitable for mass production of these microneedles is still emerging.

Korean Patent Laid-Open Patent 10-2011-0007734

The present invention has been devised in view of the above points, and the present invention has been devised in consideration of the above points, and it is a task to provide a microneedle manufacturing substrate discharging equipment for automated production of microneedles and a control method thereof to be.

According to one aspect of the present invention in order to solve the above problems, a base placed on an installation surface, a cementation in which a microneedle manufacturing substrate in a state in which the first substrate and the second substrate are bonded is carried in, which is installed on the base. A substrate loading unit, a bonding substrate separation unit for separating the first substrate and the second substrate by receiving the microneedle manufacturing substrate body of the bonding substrate loading unit, and the first and second substrates separated by the bonding substrate separation unit, respectively Microneedle manufacturing substrate discharging equipment including a substrate sorting unit for sorting and seating in the first and second trays, and a tray loading part for loading the first and second trays on which the first and second substrates are sorted and seated. is provided

The cemented substrate carrying-in part includes a loading drum carrying-in part in which the microneedle manufacturing substrate body is vertically inserted into the base by a predetermined distance from the center of rotation and at least one substrate body loading drum is loaded, the substrate body loading drum. It may include a first substrate pickup unit that picks up the inserted substrate holding drum and transfers it to the bonding substrate separation unit.

The bonded substrate separation unit may include: a substrate separation unit that separates the microneedle manufacturing substrate transferred through the bonding substrate loading unit into a first substrate and a second substrate;\, the first and second substrates separated through the substrate separation unit It may include a substrate inverting unit that picks up the upper side of the substrate and inverts it.

The substrate sorting unit may include a second substrate pickup unit that picks up the first and second substrates separated by the bonded substrate separation unit, respectively, and transfers the first substrate to the first tray and the second substrate to the second tray. can

The tray loading unit includes a first cabinet in which the first tray on which the first substrate is placed is sequentially loaded, a second cabinet in which the second tray on which the second substrate is placed is sequentially stacked, the first tray and the second tray. It may include a tray pusher for pushing each of the tray loading unit toward the side, and a cabinet lifting means for elevating the first cabinet and the second cabinet.

The holding drum carrying part is provided on the base and is provided on either side of a drum transport rail formed to have a longitudinal direction in any one direction and a longitudinal direction of the drum transport rail, and the substrate body holding drum is disposed on the upper side. A rotator that is mounted and rotates the mounted substrate body holding drum by a predetermined angle, a drum slider that is movably installed along the drum transport rail and a side on which the rotator is located and the opposite side thereof, is provided in the drum slider and the drum slider It may include a drum support block that is moved along and lifted up and down in the vertical direction, and a supporter provided on the drum support block to support the drum on which the substrate body is mounted.

The first substrate pickup unit may include a first pillar installed on the base, a first pillar supported by the first pillar, installed horizontally with the base, and extending to pass through the holding drum carrying-in unit and the upper side of the bonding substrate separation unit. A beam, a first slider transported along the longitudinal direction of the first beam, a first vertical movement block provided on the first slider and moving in the vertical direction, and a first vertical movement block provided on the first vertical movement block, the substrate body is mounted It may include a first picker provided to pick up the microneedle manufacturing substrate inserted into the slot of the drum.

The first picker is provided with a pair of tongs and the tongs for picking up the microneedle manufacturing substrate, and the first up and down movement of the microneedle manufacturing substrate picked up by the tongs is vertical or horizontal with respect to the base. It may include a tongs body rotatably provided on the block.

The substrate separation unit may include, on the base, a separation rail extending from a position facing the bonded substrate loading unit to a position facing the substrate classification unit, a separation sliding block provided to move on the separation rail, and the separation sliding It is provided on a block, a substrate body seating stage on which the microneedle manufacturing substrate body picked up from the bonding board loading unit is mounted in a horizontal state, and is provided movably in a horizontal direction on at least one side of the substrate body seating stage, It may include a separation block formed with a wedge positioned at a height corresponding to the bonding line side of the first substrate and the second substrate of the microneedle manufacturing substrate body, and a pressing unit for pressing the separation block.

The substrate inversion part is disposed on the base parallel to the movement direction of the substrate separation part, and is provided to move on the inversion rail and the inversion rail extending from the substrate separation part to a position facing the substrate sorting part A reversing sliding block, a reversing vertical movement block provided on the reversing sliding block and moving in the vertical direction, a chuck for horizontally picking up an upper side of the first and second substrates separated by the substrate separation unit; and a chuck rotation module provided between the chuck and the inverted vertical movement block to rotate the chuck to invert any one of the first substrate and the second substrate picked up by the chuck.

The second substrate pickup unit may include a second pillar installed on the base, a second pillar supported by the second pillar, installed horizontally with the base, and extending from the bonding board separation unit to the first tray and the second tray. beam, a third slider and a fourth slider provided to be movable along the second beam, and a third slider and a fourth slider respectively provided to the third slider and the fourth slider to be movable in the vertical direction on the third slider or the fourth slider A third picker provided in each of the three vertical movement blocks and the fourth vertical movement block, the third vertical movement block and the fourth vertical movement block, respectively, for picking up the first and second substrates separated by the junction substrate separation unit and a fourth picker.

Picking slots penetrating vertically are formed in the first tray and the second tray, and the tray pusher includes a pusher rail extending from the substrate sorting unit to the tray loading unit, a pusher slider moving along the pusher rail, It is provided on the pusher slider, and includes a first tray picker coupled to a picking slot of the first tray and a second tray picker coupled to a picking slot of the second tray, wherein the first tray and the second tray are formed in the first tray and the second tray. It can be moved to the tray loading side or vice versa.

The first cabinet forms a space inside which the first tray is loaded, and a first cabinet body with an open front side into which the first tray is introduced, and a rim of the first cabinet body on the first cabinet body. A plurality of vertically spaced apart from each other on both inner surfaces facing each other may include a first shelf rail.

The second cabinet forms a space inside which a second tray is loaded, and a second cabinet body having an open front side into which the second tray is introduced, and the rim of the second cabinet body so as to be placed on the second cabinet body. A plurality of vertically spaced apart from each other on both inner surfaces facing each other may include a second shelf rail.

Meanwhile, according to another aspect of the present invention, a substrate body loading step of loading a microneedle manufacturing substrate in a state in which the first and second substrates are bonded, the first and second substrates of the loaded microneedle manufacturing substrate body A substrate separation step of separating the substrates, a substrate sorting step of classifying the separated first and second substrates by type into the first and second trays, respectively, the first and second trays in which the first or second substrates are sorted 2 It may include a loading step of loading the tray.

The substrate body loading step includes a drum loading step in which at least one substrate body holding drum formed by a slot in which the microneedle manufacturing substrate body is vertically inserted into the base is spaced apart from a rotation center by a predetermined distance, is loaded in the drum loading step A drum transfer step of transferring the used substrate holding drum to the rotator side, a substrate body withdrawing step of withdrawing the substrate body from the slot of the substrate body holding drum positioned in the rotator, and a rotating step of rotating the substrate body holding drum at a certain angle can do.

The substrate separation step includes a seating step in which the microneedle manufacturing substrate body is seated on the substrate body seating stage of the substrate separation unit, a separation step in which the separation block is pressed to separate the first substrate and the second substrate of the microneedle manufacturing substrate body; and a reversing step of inverting the chuck of the substrate inverting unit after picking up the first and second substrates positioned above the separated first and second substrates on the substrate body mounting stage.

In the substrate sorting step, the substrate inverting unit is moved so that either the first or second substrates inverted by the chuck are positioned on the substrate body mounting stage with the other of the first and second substrates. A step of aligning the substrates to be positioned side by side at the same height, a step of moving the bonded substrate separation unit in which the chuck of the substrate mounting stage and the substrate inversion unit are moved to the lower side of the third and fourth pickers of the second substrate pickup unit, the second substrate pickup and the negative third and fourth pickers pick up the first and second substrates, respectively, and then transfer them to the first and second trays.

The loading step is a cabinet lifting step in which the height of the empty shelf rails of the first cabinet and the second cabinet is raised to a height to which the first tray and the second tray are transported, the first substrate or the second substrate is classified A pushing step of pushing the first tray and the second tray by the tray pusher into the first cabinet and the second cabinet, respectively.

According to the microneedle manufacturing substrate discharging device and the control method of the present invention, the microneedle production process can be automated, thereby contributing to mass production.

1 is a perspective view showing a microneedle manufacturing substrate discharging device according to an embodiment of the present invention;
Fig. 2 is a plan view of Fig. 1;
FIG. 3 is a perspective view showing the loading part of the bonded substrate of FIG. 1; FIG.
4 and 5 are views illustrating the first substrate pickup unit of FIG. 1;
FIG. 6 is a perspective view illustrating a fusion substrate loading unit and a junction substrate separation unit; FIG.
7 is a perspective view illustrating the substrate separation unit of FIG. 6 ;
8 and 9 are views illustrating a process in which the microneedle manufacturing substrate body is separated through the substrate separation unit;
10 and 11 are perspective views illustrating a substrate inversion unit of FIG. 6;
12 is a perspective view illustrating a bonded substrate separation unit and a substrate classification unit;
13 to 19 are views sequentially illustrating a process in which the microneedle manufacturing substrate is separated and inverted by the substrate separating unit and the substrate inverting unit, and then transferred to the first tray and the second tray by the substrate separating unit;
20 is a perspective view showing the tray pusher;
21 is a perspective view showing a tray loading unit;
22 is a flow chart showing a control method of the microneedle manufacturing substrate ejection equipment according to another embodiment of the present invention;
23 is a flowchart showing a detailed sequence of the substrate body loading step of FIG. 22;
24 is a flowchart showing a detailed sequence of the substrate body separation step of FIG. 22;
25 is a flowchart showing a detailed sequence of the substrate sorting step of FIG. 22; and,
26 is a flowchart illustrating a detailed sequence of the loading step of FIG. 22 .

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them. The present invention may be embodied in many different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and the same reference numerals are added to the same or similar components throughout the specification.

The embodiments of the present invention are provided to more completely explain the present invention to those of ordinary skill in the art, and the embodiments described below may be modified in various other forms, The scope is not limited to the following examples. Rather, these examples are provided so as to more fully and complete the present invention, and to fully convey the spirit of the present invention to those skilled in the art.

The terminology used herein is used to describe specific embodiments, not to limit the present invention. As used herein, the singular form may include the plural form unless the context clearly dictates otherwise. Also, as used herein, “comprise” and/or “comprising” refers to the presence of the recited shapes, numbers, steps, actions, members, elements, and/or groups of those specified. and does not exclude the presence or addition of one or more other shapes, numbers, movements, members, elements and/or groups. As used herein, the term “and/or” includes any one and any combination of one or more of those listed items.

Although the terms first, second, etc. are used in the specification to describe various members, regions and/or regions, it is to be understood that these members, parts, regions, layers and/or regions are not limited by these terms. These terms do not imply a specific order, upper and lower, or superiority, and are used only to distinguish one member, region or region from another. Accordingly, a first member, region, or region described below may refer to a second member, region, or region without departing from the teachings of the present invention.

In this specification, terms such as "or", "at least one", etc. may indicate one of the words listed together, or a combination of two or more. For example, "A or B", "at least one of A and B" may include only one of A or B, and may include both A and B.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the drawings schematically illustrating embodiments of the present invention. In the drawings, variations of the illustrated shape may be expected, for example depending on manufacturing technology and/or tolerances. Therefore, the embodiment of the present invention should not be construed as limited to the specific shape of the region shown in this specification, but should include, for example, a change in shape caused by manufacturing.

First, the microneedle manufacturing substrate body 10 will be described. The microfabricated substrate body may include a first substrate 12 and a second substrate 14 . Among them, the raw material for microneedles is dripped on any one surface of the first substrate 12 and the second substrate 14, and the first substrate 12 and the second substrate ( 14) are coupled to overlap, and rotated in the coupled state to form a microneedle between the first substrate 12 and the second substrate 14 by centrifugal force.

In addition, the microneedle manufacturing substrate body 10 may refer to a state in which the first substrate 12 and the second substrate 14 are superimposed on each other and coupled to each other.

On the other hand, the microneedle manufacturing substrate body 10 as described above may be carried into the microneedle manufacturing substrate discharging device 100 in a state of being inserted into the substrate body mounting drum 20 to be described later.

The microneedle manufacturing substrate discharging device 100 according to the present embodiment is rotated while being inserted into the substrate holder drum 20 to receive centrifugal force between the first substrate 12 and the second substrate 14 . After receiving the microneedle manufacturing substrate body 10 in a state in which the microneedles are formed, separating them, the first substrate 12 and the second substrate 14 are classified and loaded.

As shown in FIGS. 1 and 2, the microneedle manufacturing substrate discharging device 100 according to the present embodiment includes a base 110, a cemented board loading unit 120, a bonding board separating unit 150, and a substrate classifying unit. 180 and may include a tray loading unit 230 .

The base 110 is a component placed on the installation surface, and the upper surface thereof may be substantially leveled, and various structures for leveling the base 110 and the structure for vibration-proofing may be provided between the installation surface and the installation surface.

The cemented substrate loading unit 120 is a component for loading the microneedle manufacturing substrate body 10 in which the first substrate 12 and the second substrate 14 are bonded, and a mounting drum loading unit 130 . ) and the first substrate pickup unit 140 .

The cemented substrate separation unit 150 is a component that receives the microneedle manufacturing substrate body 10 loaded through the cemented substrate loading unit 120 and separates it into a first substrate 12 and a second substrate 14 . to be.

In addition, the substrate sorting unit 180 sorts the first substrate 12 and the second substrate 14 separated by the bonded substrate separating unit 150 into the first tray 210 and the second tray 220, respectively. It is a component that is anchored by

In addition, the tray loading unit 230 is a component for loading the first tray 210 and the second tray 220 in which the first substrate 12 and the second substrate 14 are classified.

The bonded substrate loading unit 120 is installed on the base 110 and is configured to load the microneedle manufacturing substrate body 10 in which the first substrate 12 and the second substrate 14 are bonded. As the elements, as shown in FIG. 3 , the holding drum carrying unit 130 and the first substrate pickup unit 140 may be included.

Among them, the loading drum carrying-in unit 130 is configured to carry the substrate body loading drum 20 in. The loading drum carrying-in part 130 includes a drum transfer rail 131, a rotator 133, and a drum slider ( 135) may include a support block and a supporter (139).

The microneedle manufacturing substrate body 10 is loaded in a state inserted into the substrate body mounting drum 20 . The substrate holding drum 20 has a cylindrical shape as a whole, and the slot 22 into which the microneedle manufacturing substrate 10 is inserted in a state perpendicular to the base 110 is spaced apart from the center by a certain distance. A plurality of spaced apart may be arranged while forming a concentric circle. In this case, the slots 22 may be disposed at positions symmetrical to each other in a straight line with respect to the center.

Accordingly, the microneedle manufacturing substrate body 10 may be loaded into the holding drum carrying-in unit 130 while being inserted into the slot of the substrate body holding drum 20 .

The drum transport rail 131 is installed on the base 110 and may be formed to have a longitudinal direction on either side.

The rotator 133 is provided at one end of the drum transfer rail 131, and the substrate holder drum 20 is mounted on the upper side thereof, and the mounted substrate holder drum 20 is moved at a certain angle. It may be provided to rotate.

The drum slider 135 may be provided to be movable between one end of the drum transport rail 131 on which the rotator 133 is positioned and the other end opposite the drum slider 135 along the drum transport rail 131 .

In addition, the drum support block 137 may be provided on the drum slider 135 to move along the drum slider 135 , and may be provided to move up and down in the vertical direction.

At this time, as shown in FIG. 3 , the drum transport rail 131 is provided with a pair of parallel spaced apart from each other with the rotator 133 interposed therebetween, the drum slider 135 and the drum support block 137 . A pair may also be provided.

A supporter 139 may be provided on the pair of drum support blocks 137 . The supporter 139 is a component that supports the substrate holder drum 20 by being placed on the upper side of the substrate holder drum 20 .

The supporter 139 is coupled to the drum support block 137 and moves together according to the sliding and vertical movement of the drum support block 137 , and may be formed in a U-shape with one side open. In this case, the width of the opened portion is wider than the diameter of the rotator 133 so that the rotator 133 may be accommodated or spaced apart from the rotator 133 according to the movement of the drum slider 135 .

Therefore, when the supporter 139 is located on the other side of the drum transfer rail 131, the substrate body mounting drum 20 in which the microneedle manufacturing substrate body 10 is inserted into the slot is placed on the supporter 139. can get In this state, the supporter 139 may be raised to be higher than the rotator 133 .

Then, the supporter 139 on which the substrate holder drum 20 is mounted is moved to one end of the drum transfer rail 131 so that the substrate holder drum 20 is positioned above the rotator 133. When the drum support block 137 descends, the substrate holding drum 20 is placed on the upper side of the rotator 133 , and then, the supporter 139 moves back to the other side of the drum transfer rail 131 . can move

In addition, the substrate holding drum 20 positioned on the rotator may be rotated by a predetermined angle by the rotator 133 .

The first substrate pickup unit 140 is a component that picks up the substrate holder drum 20 inserted into the substrate holder drum 20 and transfers it to the cemented substrate separation unit 150, as shown in Figs. 2 and 4 to 5, including a first pillar 141, a first beam 142, a first slider 143, a first vertical movement block 144 and a first picker 145 can do.

One or more of the first pillars 141 may be provided on the base 110 to extend upwardly from the base 110 .

The first beam 142 may extend horizontally from the upper side of the first pillar 141 to the base 110 . In this case, the first beam 142 may extend from the holding drum carrying-in part 130 toward the cemented substrate separating part 150 .

The first slider 143 may be slidably moved along the longitudinal direction of the first beam 142 . In addition, the first vertical movement block 144 may be provided on the first slider 143 to move vertically from the first slider 143 .

In addition, the first picker 145 may be provided in the first vertical movement block 144 and may be provided to pick up the microneedle manufacturing substrate 10 inserted into the slot of the substrate holder drum 20 . have.

The first picker 145 may include a tongs 146 and a tongs body 147. The tongs 146 are provided as a pair to pick up the microneedle manufacturing substrate 10 and spread or come apart. It is to pick up the microneedle manufacturing substrate body 10 inserted into the slot of the substrate body mounting drum 20 while being taken.

In addition, the tongs body 147 is provided with the tongs 146 , and the first up and down, such that the microneedle manufacturing substrate body 10 picked up by the tongs 146 is vertical or horizontal with respect to the base 110 . It may be provided rotatably with respect to the moving block 144 .

That is, when the microneedle manufacturing substrate body 10 is withdrawn from the slot, the tongs body 147 is drawn out in a state perpendicular to the base 110 and horizontal to the base 110 after being drawn out. ) is rotated.

On the other hand, as described above, the substrate separation unit 160 receives the microneedle manufacturing substrate body 10 loaded through the cemented substrate loading unit 120 and receives the first substrate 12 and the second substrate ( 14), as shown in FIG. 6 , may include a substrate separation unit 160 and a substrate inversion unit 170 .

The substrate separation unit 160 transfers the microneedle manufacturing substrate body 10 transferred through the first substrate pickup unit 140 of the bonded substrate loading unit 120 to the first substrate 12 and the second substrate 14 . ), as shown in FIGS. 6 and 7 , a separation rail 161 , a separation sliding block 163 , a substrate body seating stage 165 , a separation block 167 and a pressing part 169 . ) may be included.

The separation rail 161 extends on the base 110 from a position facing the first substrate pickup unit 140 of the bonded substrate loading unit 120 to a position facing the substrate sorting unit 180 . can be

The separation sliding block 163 is a component provided to move on the separation rail 161 , and the substrate body seating stage 165 is provided on the separation sliding block 163 to move the separation sliding block 163 . ) may be provided to move together with the movement, and the microneedle manufacturing substrate body 10 picked up by the first substrate pickup unit 140 may be provided to be seated in a horizontal state.

The separation block 167 is provided on both sides of the substrate body seating stage 165 on the separation sliding block 163 to be movable in the horizontal direction, A wedge 168 having a tip at a height corresponding to the bonding line between the first substrate 12 and the second substrate 14 of the microneedle manufacturing substrate body 10 may be protruded.

In addition, the pressing part 169 may be provided to selectively press the separating block 167 . This pressing part 169 is made of a hydraulic cylinder or a solenoid or ball screw structure, and by pressing the separation block 167 according to a signal, the wedge 168 of the separation block 167 is the microneedle manufacturing substrate body. By pressing the bonding line between the first substrate 12 and the second substrate 14 in (10), the first substrate 12 and the second substrate 14 can be separated.

That is, as shown in FIG. 8 , after the microneedle manufacturing substrate body 10 is seated on the substrate body mounting stage 165 by the tongs 146 of the first substrate pickup unit 140 , As shown in FIG. 9 , when the pressing unit 169 presses the separation block 167 , the wedge 168 of the separation block 167 is the first substrate of the microneedle manufacturing substrate body 10 . The first substrate 12 and the second substrate 14 may be separated by pressing the bonding line between the 12 and the second substrate 14 .

In this embodiment, the first substrate 12 is positioned at the lower side and the second substrate 14 is positioned at the upper side as an example. However, the present invention is not necessarily limited thereto, and the first substrate 12 may be positioned on the upper side.

The substrate inversion unit 170 is, as shown in FIGS. 6 and 10 to 11 , a reverse rail 171 , a reverse sliding block 173 , a reverse vertical movement block 175 , a chuck 177 and a chuck A rotation module 179 may be included.

The inversion rail 171 is disposed on the base 110 in parallel with the separation rail 161 of the substrate separation unit 160 , and faces the substrate body seating stage 165 of the substrate separation unit 160 . It may extend from a viewing position to a position facing the substrate sorting unit 180 .

The reversing sliding block 173 is a component provided to move on the reversing rail 171 , and the reversing vertical moving block 175 may be provided on the reversing sliding. The inverted vertical movement block 175 is a component provided to be able to ascend and descend by a predetermined distance vertically with respect to the inversion sliding block 173 . Such a reverse vertical movement block 175 may be provided to enable lifting by interposing a structure such as a hydraulic or pneumatic cylinder or a solenoid or a ball screw and a motor between the reverse sliding block 173 and the like.

The chuck 177 picks up the one positioned above the first substrate 12 or the second substrate 14 in a separated state positioned on the substrate body seating stage 165 of the substrate separation unit 160 . is a component The chuck 177 may be provided to extend from the reverse vertical movement block 175 toward the substrate separation unit 160 . The chuck 177 may adsorb and fix the second substrate 14 positioned above the first substrate 12 or the second substrate 14 by vacuum or static electricity, or the like.

In addition, the chuck 177 may be raised higher than the substrate body seating stage 165 of the substrate separation unit 160 by the inverted vertical movement block 175 or may be lowered to the same height as the substrate body seating stay. have.

In addition, the chuck rotation module 179 is provided between the chuck 177 and the inverted vertical movement block 175 to rotate the chuck 177 to rotate the second substrate 14 picked up by the chuck 177 . can be reversed.

In addition, since the inverted vertical movement block 175 provided with the chuck 177 is provided on the inverted sliding block 173 , the chuck 177 also moves along with the movement of the inverted vertical movement block 175 . can be In this case, the horizontal movement range of the chuck 177 may extend from a position facing the substrate body seating stage 165 of the substrate separation unit 160 to a position facing the substrate sorting view. Of course, since the substrate body seating stage 165 also moves on the separation rail 161 , a range in which the chuck 177 is horizontally moved may be longer than a range in which the substrate body seating stage 165 is moved.

That is, in a state in which the chuck 177 is raised, the chuck 177 is positioned above the substrate body seating stage 165, and in a state in which the chuck 177 is slid and lowered, the substrate body seating stage ( 165) and may be arranged side by side at the same height as the substrate body mounting stage 165.

On the other hand, the substrate sorting unit 180 separates the first substrate 12 and the second substrate 14 separated from the bonded substrate separation unit 150 as described above with the first tray 210 and the second tray, respectively. A second substrate pickup unit may be included as a component to be sorted and seated at 220 .

As shown in FIG. 12 , the second substrate pickup unit 190 moves a second pillar 191 , a second beam 192 , a third slider 193 and a fourth slider 194 , and a third vertical movement. It may include a block 195 , a fourth vertical movement block 196 , a third picker 197 , and a fourth picker 198 .

The second pillar 191 may be formed to extend upwardly on the base 110 .

In addition, the second beam 192 may extend from an upper side of the second pillar 191 to be horizontal to the base 110 . In this case, the second beam 192 may extend from the upper side of the substrate separation unit to pass through the upper side of the first tray 210 and the second tray 220 .

The third slider 193 and the fourth slider 194 may be provided to slide along the second beam 192 .

In addition, the third vertical movement block 195 is provided on the third slider 193 to move vertically from the third slider 193 , and the third vertical movement block 195 has a third A picker 197 may be provided.

The third picker 197 is a chuck ( 177) is provided to pick up the first substrate 12 not picked up, and can be moved up and down or horizontally by the third slider 193 and the third vertical movement block 195 .

Accordingly, the third picker 197 reciprocates between the substrate body mounting stage 165 and the upper side of the first tray 210, and moves the first substrate 12 of the substrate body mounting stage 165 to the first. It can be seated on one tray 210 .

In addition, the fourth vertical movement block 196 is provided on the fourth slider 194 to move vertically from the fourth slider 194, and the fourth vertical movement block 196 has a fourth A picker 198 may be provided.

The fourth picker 198 is provided to pick up the second substrate 14 picked up by the chuck 177 of the substrate inversion unit 170 , and the fourth slider 194 and the fourth vertical movement block 196 . It can be moved up and down or horizontally by

Accordingly, the fourth picker 198 reciprocates between the chuck 177 of the substrate inverting unit 170 and the upper side of the second tray 220 , while the second substrate 14 positioned on the chuck 177 . can be seated on the second tray 220 .

Alternatively, the second substrate pickup unit is not provided with the fourth slider 194, and the third slider 193 is provided with both the third vertical movement block 195 and the fourth vertical movement block 196. can be provided.

Accordingly, the third picker 197 and the fourth picker 198 move together when they are moved horizontally, and may be provided to be lifted and lowered independently of each other when they are moved vertically.

A process in which the microneedle manufacturing substrate body 10 separated from the substrate separation unit 160 is transferred to the first tray 210 and the second tray 220 will be described in more detail with reference to FIGS. 13 to 19 . let it do

As shown in FIG. 13 , the microneedle manufacturing substrate body 10 may be separated into a first substrate 12 and a second substrate 14 in the substrate separation unit 160 . In addition, the chuck 177 of the substrate inversion unit 170 may be positioned above the substrate body mounting stage 165 .

As shown in FIG. 14 , the chuck 177 of the substrate inversion unit 170 descends to pick up the second substrate 14 on the substrate body mounting stage 165 and then rises again, and then in FIG. 15 . As shown in , the chuck 177 is rotated so that the second substrate 14 can be inverted.

After the second substrate 14 is inverted, as shown in FIG. 16 , the inverted vertical movement block 175 of the substrate inverting unit 170 is lowered and the inverted sliding block 173 is moved to move the substrate body. The first substrate 12 seated on the seating stage 165 and the second substrate 14 seated on the chuck 177 may be positioned side by side.

Then, as shown in FIG. 17, the substrate body mounting stage 165 on which the first substrate 12 is seated and the chuck 177 on which the second substrate 14 is seated are separated rails 161, respectively. It may be transferred to the second substrate pickup unit 190 side along the inversion rail 171 and the inversion rail 171 .

In the second substrate pickup unit 190 , as shown in FIG. 18 , the third picker 197 and the fourth picker 198 move the third vertical movement block 195 and the fourth vertical movement block 196 . By descending through, the first block positioned on the substrate body mounting stage 165 and the second block positioned on the chuck 177 may be picked up.

Thereafter, the third vertical movement block 195 and the fourth vertical movement block 196 are raised, and as shown in FIG. 19 , the third slider 193 and the fourth slider 194 are moved and the After the third picker 197 and the fourth picker 198 are moved to the first tray 210 and the second tray 220, respectively, the third vertical movement block 195 and the fourth vertical movement block ( 196) descends, so that the first substrate 12 and the second substrate 14 may be seated on the first tray 210 and the second tray 220, respectively.

In addition, the tray loading unit 230 is a component for loading the first tray 210 and the second tray 220 in which the first substrate 12 and the second substrate 14 are classified, and is a first cabinet. 240 and the second cabinet 250 , the tray pusher 270 and the cabinet lifting means 260 may be included.

The first cabinet 240 and the second cabinet 250 are positioned opposite the first tray 210 and the second tray 220 so that the first tray 210 and the second tray 220 are disposed. It may be formed to slide into the inside.

As shown in FIG. 21 , the first cabinet 240 may include a first cabinet body 242 and a first shelf rail 244 . The first cabinet body 242 may form a space inside which the first tray 210 is loaded, and may be formed such that a front surface into which the first tray 210 is introduced is opened.

In addition, the first shelf rails 244 are provided on both inner surfaces of the first cabinet body 242 facing each other so that the rim of the first tray 210 introduced into the first cabinet body 242 is mounted. The first cabinet 240 may be formed to protrude and extend to have a longitudinal direction in the same direction as the transporting direction. A plurality of first shelf rails 244 as described above are formed to be spaced apart from each other by a predetermined interval in the vertical direction on the inner surface of the first cabinet body 242, so that the first tray 210 is provided on each of the first shelf rails 244 . It may be formed so as to be placed on it.

In addition, the rear surface of the first cabinet 240 may also be opened. In order to prevent the first tray 210 from falling out through the opened rear surface, an openable stopper 246 is provided on the rear side of the first cabinet 240 . may be provided.

In addition, the second cabinet 250 may include a second cabinet body 252 and a second shelf rail 254 . The second cabinet body 252 may form a space inside which the second tray 220 is loaded, and may be formed such that a front surface into which the second tray 220 is introduced is opened.

In addition, the second shelf rails 254 are provided on both inner surfaces of the second cabinet body 252 facing each other so that the edges of the second tray 220 introduced into the second cabinet body 252 are placed on top of each other. The second cabinet 250 may be formed to protrude and extend to have a longitudinal direction in the same direction as the transport direction. A plurality of the second shelf rails 254 as described above are formed to be spaced apart from each other by a predetermined interval in the vertical direction on the inner surface of the second cabinet body 252 , and the second tray 220 is provided on each second shelf rail 254 . It may be formed so as to be placed on it.

In addition, the rear surface of the second cabinet 250 may also be opened. In order to prevent the second tray 220 from falling out through the opened rear surface, an openable stopper 256 is provided on the rear side of the second cabinet 250 . may be provided.

Also, the cabinet elevating means 260 may elevate the first cabinet 240 and the second cabinet 250 in a vertical direction. Accordingly, the first tray 210 and the second tray 220 are placed on the empty first shelf rail 244 and the second shelf rail 254 by elevating the first cabinet 240 and the second cabinet 250 . ) can be adjusted so that the height can be adjusted. The cabinet lifting means 260 may be provided in various structures such as a hydraulic cylinder or a ball screw and a motor structure.

In addition, as shown in FIG. 20 , the tray pusher 270 may include a pusher rail 272 , a pusher slider 274 , a first tray picker 276 , and a second tray picker 278 .

The pusher rail 272 may be formed to extend from the substrate sorting unit 180 side toward the first cabinet 240 and the second cabinet 250 . In more detail, the pusher rail 272 extends from the rear side of the first tray 210 and the second tray 220 through between the first tray 210 and the second tray 220 . It may extend to the front of the first cabinet 240 and the second cabinet 250 .

In addition, the pusher slider 274 may be provided to be movable along the pusher rail 272 .

A first tray picker 276 and a second tray picker 278 may be provided on the pusher slider 274 .

In addition, picking slots 212 and 222 penetrating up and down may be formed on edges of the first tray 210 and the second tray 220 , respectively. In addition, the first tray picker 276 and the second tray picker 278 have the first tray 210 and the second tray 220 fastened to a picking slot, and according to the movement of the pusher slider 274, the The first tray 210 and the second tray 220 may be moved to the side of the first cabinet 240 and the second cabinet 250 or vice versa.

That is, the pusher slider 274 can push the first tray 210 and the second tray 220 into the first cabinet 240 and the second cabinet 250 , respectively.

Hereinafter, an embodiment of the control method of the microneedle manufacturing substrate discharging device 100 according to the present invention will be described.

As shown in FIG. 22, the control method of the microneedle manufacturing substrate discharging device 100 according to this embodiment is a substrate body loading step (S110), a substrate body separation step (S120), a substrate sorting step (S130) and loading It may include step S140.

The substrate body loading step (S110) is a step in which the microneedle manufacturing substrate body 10 in a state in which the first substrate 12 and the second substrate 14 are bonded is loaded.

The substrate body loading step (S110) as described above may include a drum loading step (S112), a drum transporting step (S114), a substrate body discharging step (S116), and a rotating step, as shown in FIG. 23 .

The drum loading step (S112) is a step in which the substrate body mounting drum 20 into which the microneedle manufacturing substrate body 10 is inserted is seated on the supporter 139 and loaded.

In the drum transfer step ( S114 ), the supporter 139 is moved and the substrate holder drum 20 seated on the supporter 139 is mounted on the upper side of the rotator 133 and mounted.

The substrate body discharging step ( S116 ) is a step of withdrawing the substrate body from the slot 22 of the substrate body mounting drum 20 positioned in the rotator 133 , and includes the first substrate pickup unit 140 . One picker 145 may pick up the microneedle manufacturing substrate 10 and withdraw it from the slot.

After the substrate discharging step (S116), the drum rotating step (S118) may be performed. In the drum rotating step ( S118 ), the rotator 133 is rotated so that the substrate holding drum 20 is rotated at a predetermined angle so that the next slot 22 is positioned at the withdrawal position by the first substrate pickup unit 140 . is a step to

After the substrate body loading step (S110), the substrate body separation step (S120) may be performed.

As shown in FIG. 24 , the substrate body separation step ( S120 ) may include a substrate body seating step ( S122 ), a separation step ( S124 ), and an inversion step ( S126 ).

The substrate body seating step (S122) is a step in which the microneedle manufacturing substrate body 10 is seated on the substrate body seating stage 165 of the substrate separation unit. After the first picker 145 of the first substrate pickup unit 140 is rotated so that the microneedle manufacturing substrate 10 is rotated horizontally on the base 110 , the first slider 143 and the first It may be placed on the substrate body mounting stage 165 by the vertical movement block 144 .

In the separation step (S124), the separation block 167 is pressed by the pressing unit 169 so that the first substrate 12 and the second substrate 14 of the microneedle manufacturing substrate body 10 are separated. is a step

In the inversion step (S126), the chuck 177 of the substrate inversion unit 170 is located on the upper side of the first substrate 12 and the second substrate 14 separated on the substrate body mounting stage 165. This is a step in which the second substrate 14 is picked up and then inverted.

Then, the substrate sorting step ( S130 ) may be performed.

The substrate sorting step (S130) is a step of sorting and seating the separated first and second substrates 12 and 14 on the first and second trays 210 and 220, respectively, as shown in FIG. As shown in , it may include a substrate alignment step (S132), a moving step (S134) of the bonded substrate separation unit, and a separation substrate transfer step (S136).

In the substrate alignment step (S132), as the chuck 177 inverted the second substrate 14 in the inversion step (S126) is shown in FIG. 16 , as the inverted vertical movement block 175 is lowered, the This is a step in which the reverse sliding block 173 is moved so that the first substrate 12 seated on the substrate mounting stage 165 and the second substrate 14 seated on the chuck 177 are positioned side by side.

As shown in FIG. 17 , the moving step S134 of the bonding substrate separation unit includes a substrate body mounting stage 165 on which the first substrate 12 is seated and a chuck 177 on which the second substrate 14 is seated. ) is transferred to the second substrate pickup unit 190 along the separation rail 161 and the inversion rail 171 , respectively.

In the separating substrate transfer step (S136), as shown in FIG. 18 , the third picker 197 and the fourth picker 198 move to a third vertical movement block 195 and a fourth vertical movement block 196 . After descending through to pick up the first block positioned on the substrate body seating stage 165 and the second substrate 14 positioned on the chuck 177 , as shown in FIG. 19 , the third The slider 193 and the fourth slider 194 and the third vertical movement block 195 and the fourth vertical movement block 196 are moved so that the first substrate 12 and the second substrate 14 are respectively moved to the first It is a step of being seated on the first tray 210 and the second tray 220 .

And, the loading step (S140) may be performed. In the loading step (S140), the first tray 210 and the second tray 220 in which the first substrate 12 and the second substrate 14 are respectively sorted in the substrate sorting step (S130) are arranged in a first cabinet ( 240) and the second cabinet 250, respectively.

The loading step (S140) may include a cabinet elevating step (S142) and a pushing step, as shown in FIG. 26 .

In the cabinet elevating step (S142), the height of the empty first shelf rail 244 or the second shelf rail 254 of the first cabinet 240 and the second cabinet 250 is equal to the height of the first tray 210 ) and the second tray 220 are transferred and the height of the cabinet lifting means 260 is operated to match the height at which the first cabinet 240 and the second cabinet 250 are adjusted.

And in the pushing step (S144), the tray pusher 270 pushes the first tray 210 and the second tray 220 toward the first cabinet 240 and the second cabinet 250 side. to be.

Although one embodiment of the present invention has been described above, the spirit of the present invention is not limited to the embodiments presented herein, and those skilled in the art who understand the spirit of the present invention can add components within the scope of the same spirit. , changes, deletions, additions, etc. may easily suggest other embodiments, but this will also fall within the scope of the present invention.

10: microneedle manufacturing substrate body 12: first substrate
14: second substrate 20: substrate body holding drum
22: Slot 100: Microneedle manufacturing substrate ejection equipment
110: Base 120: Cemented substrate carrying part
130: mounted drum carrying unit 131: drum transport rail
133: rotator 135: drum slider
137: drum support block 139: supporter
140: first substrate pickup unit 141: first pillar
142: first step 143: first slider
144: first moving block 145: first picker
146: forceps 147: clamp body
150: bonding substrate separation unit 160: substrate separation unit
161: separation rail 163: separation sliding block
165: substrate body seating stage 167: separation block
168: wedge 169: pressing part
170: substrate inversion unit 171: inversion rail
173: reverse sliding block 175: reverse vertical movement block
177: chuck 179: chuck rotation module
180: substrate sorting unit 190: second substrate pickup unit
191: second pillar 192: second beam
193: third slider 194: fourth slider
195: 3rd Shanghai-dong block 196: 4th Shanghai-dong block
197: 3rd picker 198: 4th picker
210: first tray 220: second tray
230: tray loading unit 240: first cabinet
242: first cabinet body 244: first shelf rail
246: stopper 250: second cabinet
252: second cabinet body 254: second shelf rail
256: stopper 260: cabinet lifting means
270: tray pusher 272: pusher rail
274: pusher slider 276: first tray picker
278: second tray picker S110: substrate body loading step
S112: drum loading step S114: drum transport step
S116: substrate body discharging step S118: drum rotating step
S120: substrate body separation step S122: substrate body seating step
S124: separation step S126: inversion step
S130: substrate sorting step S132: substrate alignment step
S134: Cemented substrate separation unit moving step
S136: Separator plate transfer step S140: Loading step
S142: cabinet lifting step S144: pushing step

Claims (19)

a base placed on the mounting surface;
a bonding substrate loading unit installed on the base and carrying in a microneedle manufacturing substrate in a state in which the first substrate and the second substrate are bonded;
a bonding substrate separation unit receiving the microneedle manufacturing substrate body from the bonding substrate loading unit and separating the first substrate and the second substrate;
a substrate sorting unit for sorting and seating the first and second substrates separated by the bonded substrate separation unit on a first tray and a second tray, respectively; and
a tray loading unit for loading the first tray and the second tray on which the first and second substrates are sorted and seated;
Microneedle manufacturing substrate ejection equipment comprising a. According to claim 1,
The cemented substrate loading unit,
a loading drum carrying-in unit into which at least one substrate body mounting drum formed by a predetermined distance from a rotation center of a slot into which the microneedle manufacturing substrate body is vertically inserted into the base is loaded;
a first substrate pickup unit that picks up the substrate holder drum inserted into the substrate holder drum and transfers it to the bonding substrate separation unit;
Microneedle manufacturing substrate ejection equipment comprising a. According to claim 1,
The bonding substrate separation unit,
a substrate separation unit separating the microneedle manufacturing substrate body transferred through the bonding substrate loading unit into the first substrate and the second substrate;
a substrate inverting unit for picking up and inverting an upper substrate among the first and second substrates separated through the substrate separating unit;
Microneedle manufacturing substrate ejection equipment comprising a. According to claim 1,
The substrate classification unit,
a second substrate pickup unit that picks up the first and second substrates separated by the bonded substrate separation unit, respectively, and transfers the first substrate to the first tray and the second substrate to the second tray;
Microneedle manufacturing substrate ejection equipment comprising a. According to claim 1,
The tray loading unit,
a first cabinet in which the first tray on which the first substrate is placed is sequentially loaded;
a second cabinet in which the second tray on which the second substrate is placed is sequentially loaded;
a tray pusher for pushing the first tray and the second tray toward the tray loading part, respectively;
cabinet elevating means for elevating the first cabinet and the second cabinet;
Microneedle manufacturing substrate ejection equipment comprising a. 3. The method of claim 2,
The holding drum carrying part,
a drum transport rail installed on the base and formed to have a longitudinal direction in any one direction;
a rotator provided on one side of the drum transport rail in the longitudinal direction, the substrate body mounting drum mounted on the upper side, and rotating the mounted substrate body holding drum by a predetermined angle;
a drum slider installed to be movable along the drum transport rail and on the side on which the rotator is positioned and on the opposite side;
a drum support block provided on the drum slider, moving along the drum slider, and ascending and descending in a vertical direction;
a supporter provided on the drum support block to support the substrate holding drum;
Microneedle manufacturing substrate ejection equipment comprising a. 3. The method of claim 2,
The first substrate pickup unit,
a first pillar installed on the base;
a first beam supported by the first pillar and installed horizontally with the base, the first beam extending through the upper side of the holding drum carrying-in part and the bonding board separation part;
a first slider transferred along the longitudinal direction of the first beam;
a first vertical movement block provided on the first slider and moved in the vertical direction;
a first picker provided in the first vertical movement block and provided to pick up the microneedle manufacturing substrate body inserted into the slot of the substrate body holder drum;
Microneedle manufacturing substrate ejection equipment comprising a. 8. The method of claim 7,
The first picker is
a pair of tongs for gripping the microneedle manufacturing substrate;
a tongs body provided with the tongs and rotatably provided on the first up-and-down moving block so that the microneedle manufacturing substrate picked up by the tongs is rotated vertically or horizontally with respect to the base;
Microneedle manufacturing substrate ejection equipment comprising a. 4. The method of claim 3,
The substrate separation unit,
a separation rail on the base, extending from a position facing the cemented substrate loading unit to a position facing the substrate sorting unit;
a separation sliding block provided to move on the separation rail;
a substrate body seating stage provided on the separation sliding block and on which the microneedle manufacturing substrate picked up from the bonding substrate loading unit is seated in a horizontal state;
At least one side of the substrate body seating stage is provided to be movable in the horizontal direction, and a wedge positioned at a height corresponding to the coupling line side of the first substrate and the second substrate of the microneedle manufacturing substrate is formed. block;
a pressing unit for pressing the separation block;
Microneedle manufacturing substrate ejection equipment comprising a. 4. The method of claim 3,
The substrate inversion unit,
a reversing rail disposed on the base parallel to the moving direction of the substrate separation unit and extending from the substrate separation unit to a position facing the substrate separation unit;
a reversing sliding block provided to move on the reversing rail;
a reverse vertical movement block provided on the reverse sliding and moving in the vertical direction;
a chuck for horizontally picking up an upper side of the first substrate and the second substrate separated by the substrate separation unit;
a chuck rotation module provided between the chuck and the inverted vertical movement block to rotate the chuck to invert any one of the first substrate and the second substrate picked up by the chuck;
Microneedle manufacturing substrate ejection equipment comprising a. 5. The method of claim 4,
The second substrate pickup unit,
a second pillar installed on the base;
a second beam supported by the second pillar and installed horizontally with the base, the second beam extending from the bonding board separation part to the first tray and the second tray;
a third slider and a fourth slider movably provided along the second beam;
a third vertical movement block and a fourth vertical movement block respectively provided on the third slider and the fourth slider to be movable in the vertical direction on the third slider or the fourth slider;
a third picker and a fourth picker provided in the third vertical moving block and the fourth vertical moving block, respectively, for picking up the first and second substrates separated by the bonded substrate separation unit;
Microneedle manufacturing substrate ejection equipment comprising a. 6. The method of claim 5,
Picking slots penetrating up and down are formed in the first tray and the second tray,
The tray pusher,
a pusher rail extending from the substrate sorting part to the tray loading part;
a pusher slider moving along the pusher rail;
a first tray picker provided on the pusher slider and coupled to the picking slot of the first tray and a second tray picker coupled to the picking slot of the second tray;
including,
Microneedle manufacturing substrate discharging equipment provided to move the first tray and the second tray to the side of the tray loading unit or to the opposite side. 6. The method of claim 5,
The first cabinet is
a first cabinet body forming a space inside which the first tray is loaded and having an open front surface into which the first tray is introduced;
a plurality of first shelf rails that are vertically spaced apart from each other on both inner surfaces of the first cabinet body facing each other so that the rim of the first tray is mounted;
Microneedle manufacturing substrate ejection equipment comprising a. 6. The method of claim 5,
The second cabinet,
a second cabinet body forming a space inside the second tray to be loaded, and having an open front surface into which the second tray is introduced;
a plurality of second shelf rails formed vertically spaced apart from each other on both inner surfaces of the second cabinet body facing each other so that the rim of the second tray is mounted;
Microneedle manufacturing substrate ejection equipment comprising a. The method of controlling a microneedle manufacturing substrate discharging device for controlling the microneedle manufacturing substrate discharging device according to any one of claims 1 to 14,
a substrate body loading step of loading a microneedle manufacturing substrate in a state in which the first substrate and the second substrate are bonded;
a substrate separation step of separating the first substrate and the second substrate of the loaded microneedle manufacturing substrate;
a substrate sorting step of classifying the separated first and second substrates into a first tray and a second tray, respectively, by type;
a loading step of loading the first tray and the second tray into which the first substrate or the second substrate is classified;
Control method of microneedle manufacturing substrate ejection equipment comprising a. 16. The method of claim 15
The substrate body loading step,
a drum loading step in which at least one substrate holding drum formed by a slot in which the microneedle manufacturing substrate body is vertically inserted into the base is spaced apart from the center of rotation by a predetermined distance;
a drum transfer step of transferring the substrate holding drum loaded in the drum carrying-in step toward the rotator;
a substrate body withdrawing step of withdrawing the microneedle manufacturing substrate from the slot of the substrate holding drum located in the rotator;
a rotating step of rotating the substrate holding drum at a predetermined angle;
Control method of microneedle manufacturing substrate ejection equipment comprising a. 16. The method of claim 15,
The substrate body separation step,
a seating step of seating the microneedle manufacturing substrate body on the substrate body seating stage of the substrate separation unit;
a separation step in which the separation block is pressed to separate the first substrate and the second substrate of the microneedle manufacturing substrate;
an inversion step in which the chuck of the substrate inversion unit picks up the first substrate and the second substrate that are separated on the substrate body mounting stage, which is located above the second substrate, and then inverts it;
Control method of microneedle manufacturing substrate ejection equipment comprising a. 16. The method of claim 15,
The substrate classification step is
The substrate inverting unit is moved so that either the first or the second substrate inverted by the chuck is at the same height as the other one of the first and second substrates positioned on the substrate body mounting stage. aligning the positioned substrate;
a moving step of a bonded substrate separation unit in which the substrate mounting stage and the chuck of the substrate inversion unit are moved to lower sides of the third and fourth pickers of the second substrate pickup unit;
a separation substrate transfer step in which the third picker and the fourth picker of the second substrate pickup unit pick up the first substrate and the second substrate, respectively, and then transfer the first substrate and the second substrate to the first tray and the second tray;
Control method of microneedle manufacturing substrate ejection equipment comprising a. 16. The method of claim 15,
The loading step is
a cabinet lifting step of raising and lowering the empty shelf rails of the first cabinet and the second cabinet to a height to which the first tray and the second tray are transported;
a pushing step in which a tray pusher pushes the first tray and the second tray into which the first substrate or the second substrate is classified into the first cabinet and the second cabinet, respectively;
Control method of microneedle manufacturing substrate ejection equipment comprising a.

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