KR102530633B1 - System for conveying camera module and operating methode thereof - Google Patents

Abstract

The present disclosure relates to a transport system for assembling or inspecting a camera module, wherein a control unit for controlling an operation of the transport system uses a first flip gripper when a signal indicating that a loading tray is in a first position is acquired to hold the loading tray and move it in the Y-axis direction, rotate the first flip gripper based on a rotational axis parallel to the X-axis based on the information on whether or not the flip is determined by the control unit based on the identification information, and move the loading tray to the second The loading flip transfer unit placed on the first plate of the loading buffer unit at the position, moves in the Z-axis direction from below the third plate at the third position, passes through the hole formed in the third plate, and supports the unloading tray from below, The control unit rotates the unloading tray based on the rotation axis parallel to the Z-axis based on the information on whether the rotation is determined based on the identification information, and includes an unloading tray rotation unit that moves in the opposite direction to the Z-axis.

Description

Camera module transport system and method of operating the system {SYSTEM FOR CONVEYING CAMERA MODULE AND OPERATING METHODE THEREOF}

The present disclosure relates to a camera module transport system and an operating method of the transport system. More specifically, the transfer system relates to a system capable of freely changing the orientation of a camera.

With the development of smart devices, the use of small camera modules is rapidly increasing. Recently, camera modules have been installed not only in portable terminals such as smart phones, tablet PCs and laptops, but also in automobiles and smart TVs.

A typical camera module includes a housing, a lens barrel in which a plurality of lenses are stacked, a CCD or CMOS image sensor, and a connector electrically connecting a board on which they are mounted and the outside.

In the process of assembling the camera module, parts of the camera module must be transferred to a plurality of assembly devices. In addition, in order to inspect whether the assembly is properly performed or whether the AF (Auto Focus) or OIS (Optical Image Stabilization) of the camera module operates correctly, the camera module must be transferred to a plurality of inspection devices that perform specific inspections. do. A plurality of assembling devices may perform assembling by receiving the parts of the camera module having a predetermined orientation for assembly. If the parts of the camera module are transferred to the assembly device without having a predetermined orientation, a defective camera module may be produced. A plurality of assembling devices may require different orientations of parts of the camera module. In addition, a plurality of camera module inspection apparatuses may also require different orientations of the camera modules.

Conventionally, when inputting a camera module into an assembly device or an inspection device, a robot arm has to manually correct the orientation or an operator manually corrects the orientation. Therefore, it took a lot of time to assemble and inspect. In addition, there is also a method of unifying the orientation of the camera module into one, but this may be expensive because it is necessary to request customization from a manufacturer of an assembly device or an inspection device.

Therefore, a system capable of freely modifying the orientation of the camera module between two devices requiring different orientations of the camera module is required.

A transport system for assembling or inspecting a camera module according to an embodiment of the present disclosure moves a loading tray mounted on a loading stack unit in the Y-axis direction using a control unit and a loading transfer gripper for controlling the operation of the transport system. and acquiring identification information on at least one camera module included in the loading tray using the loading identification information acquisition unit, and using the loading sensor unit to determine that the loading tray is in a first position that can be caught by the loading flip transfer unit. When the transfer unit acquires the signal indicating that the loading tray is in the first position, the first flip gripper is used to hold the loading tray and move it in the Y-axis direction, and the flip control unit determines based on the identification information The loading flip transfer unit for rotating the first flip gripper on the basis of a rotational axis parallel to the X axis based on the information about whether or not the loading tray is placed on the first plate of the loading buffer unit at the second position, the second position. The first plate is moved in the Y-axis direction along the first loading buffer guide rail parallel to the Y-axis to be positioned at the first pick-and-place position, and the second plate is removed as the first plate moves in the Y-axis direction. 1 Loading buffer moving in the opposite direction of the Y-axis at the pick-and-place position, after moving in the Z-axis direction from under the 1st plate at the 1st pick-and-place position, move the 1st pusher in the Y-axis direction and move the 1st pusher in the Y-axis direction Move the 2nd pusher located in the opposite direction of the Y-axis to align the loading tray on the 1st plate, and then use the module alignment unit moving in the opposite direction of the Z-axis and the vacuum gripper to load the tray at the 1st pick-and-place position. A pick-and-place unit holding at least one included camera module, moving it to a second pick-and-place position, and placing the at least one camera module on an unloading tray at the second pick-and-place position, the unloading tray at the second pick-and-place position It is located on the third plate in , and moves the third plate in the opposite direction of the Y-axis along the first unloading buffer guide rail parallel to the Y-axis to position it at a predetermined third position, and the third plate is positioned on the Y-axis. The unloading buffer unit moves the 4th plate in the Y-axis direction at the 3rd position as it moves in the opposite direction, moves in the Z-axis direction under the 3rd plate at the 3rd position and passes through the hole formed in the 3rd plate An unloading tray that supports the loading tray from below, rotates the unloading tray based on the rotational axis parallel to the Z axis based on information on rotation determined by the control unit based on the identification information, and then moves in the opposite direction to the Z axis. It includes an unloading flip transfer unit that grabs the unloading tray in the third position using the rotation unit and the second flip gripper and moves it in the opposite direction of the Y-axis to position it in the fourth position, and uses the transfer unit to unload the unloading tray. Mounted on the loading stack.

The transfer unit of the transfer system according to an embodiment of the present disclosure includes a transfer unit frame in which a loading transfer gripper, a loading identification information acquisition unit, and a loading sensor unit are combined, and a transfer unit Z-axis guide rail coupled to the transfer unit frame to move the transfer unit frame up and down. , And fixed to the frame of the conveying system, coupled to the conveying part Z-axis guide rail and including a conveying part X-axis guide rail parallel to the X axis for moving the conveying part Z-axis guide rail parallel to the X axis, and the conveying part from the control unit Based on the information on the position of the loading tray mounted on the loading stack, the transfer unit frame is moved on the transfer unit Z-axis guide rail and transfer unit X-axis guide rail, so that the coordinates of the X-axis and Z-axis of the loading transfer gripper are the X-axis and Match the coordinates of the Z axis.

When the transfer unit of the transfer system according to an embodiment of the present disclosure receives a signal indicating loading of the camera module from the control unit, it moves to the first transfer unit position on the X-axis guide rail of the transfer unit and uses the loading transfer gripper to load the loading stack. When the mounted loading tray is moved in the Y-axis direction and a signal indicating unloading of the camera module is received from the control unit, the transfer unit moves to the second transfer unit position on the X-axis guide rail, and the first transfer unit position is the second It is located in the direction opposite to the X-axis with respect to the location of the conveying part.

When the transfer unit of the transfer system according to an embodiment of the present disclosure is at the second transfer unit position based on the signal indicating the unloading of the camera module, the unloading tray can be caught by the loading transfer gripper using the loading sensor unit When a signal indicating that the unloading tray is in the fourth position is obtained and a signal indicating that the unloading tray is in the fourth position is obtained, the unloading tray is moved in the opposite direction of the Y axis using the loading transfer gripper to the unloading stack unit. It is mounted, and identification information for at least one camera module included in the unloading tray is acquired using the loading identification information acquisition unit.

The pick-and-place unit of the transfer system according to an embodiment of the present disclosure includes two alignment protrusions on one side arranged vertically in the X-axis direction, and includes two alignment protrusions on the other side arranged vertically on the opposite side in the X-axis direction, , including a vacuum gripper including an extension so that the vacuum pad of the vacuum gripper extends to the camera module and a plurality of guide grooves for accommodating the vacuum gripper and inserting one alignment protrusion and the other alignment protrusion included in the vacuum gripper, the vacuum gripper It includes a vacuum gripper housing that adjusts the pitch of the vacuum gripper, and the plurality of guide grooves have a shape that moves in the Y-axis direction or in the opposite direction to the Y-axis as the vacuum gripper goes down, and the control unit loads based on identification information. Determine the first pitch of the trays and the second pitch of the unloading tray, determine the first height of the vacuum gripper relative to the vacuum gripper housing based on the first pitch, and determine the vacuum relative to the vacuum gripper housing based on the second pitch. Determine the second height of the gripper, control the vacuum gripper to be located at the first height, hold at least one camera module included in the loading tray at the first pick-and-place position, and move the vacuum gripper to the second pick-and-place position While moving, the vacuum gripper is controlled to be located at the second height.

The loading tray and the unloading tray of the transport system according to an embodiment of the present disclosure differ in at least one of the maximum number of camera modules that can be mounted, the mounting orientation of the camera modules, the location determiner, and the location of the identification information provider.

The loading flip transfer unit of the transfer system according to an embodiment of the present disclosure is fixed to the frame of the transfer system, and the Y-axis is provided by the Y-axis guide rail of the loading flip transfer unit parallel to the Y-axis and the Y-axis guide rail of the loading flip transfer unit. direction or in the opposite direction of the Y-axis, and moves up and down along the Z-axis guide rail of the loading flip transfer part parallel to the Z axis and the Z-axis guide rail of the loading flip transfer part, the first flip gripper and the Z-axis of the loading flip transfer part A flip gripper frame connecting the guide rails, and a grip sensor extending in the X-axis direction with respect to the flip gripper frame, movable in the Y-axis direction with respect to the flip gripper frame, and detecting whether or not the loading tray is being held. A first flip gripper is included.

A stopper for preventing the loading tray from moving in the opposite direction to the X-axis is formed on the side of the first plate in the direction opposite to the X-axis of the transport system according to an embodiment of the present disclosure, and the side in the direction of the X-axis of the first plate has A third pusher is formed to move in the opposite direction and press the loading tray in the opposite direction of the X axis, and the first pusher, the second pusher, the stopper, and the third pusher on the first plate in the first pick-and-place position. Align the loading tray.

According to the transfer system according to the present disclosure, the orientation of the camera module can be automatically changed by inputting only the orientation of the camera module immediately before the transfer system and the orientation of the camera module immediately after the transfer system, so work efficiency can be maximized. In addition, the transfer system can automatically find out the orientation by automatically acquiring the identification information of the tray without having to manually input the orientation one by one. In particular, the transfer system has an advantage of having a high degree of freedom in changing the orientation of the camera module by moving the camera module forward, backward, up, down, left and right, or by rotating the camera module on the basis of the x-axis, y-axis, and z-axis. In addition, there is an advantage in that the camera module can be changed from the loading tray to the unloading tray regardless of the shape of the loading tray and the unloading tray.

1 discloses a hardware configuration of a control unit according to an embodiment of the present disclosure.
2 is a view showing the overall appearance of a transport system according to an embodiment of the present disclosure.
3 shows a plan view of a transport system according to one embodiment of the present disclosure.
4 is a diagram for explaining a transfer unit according to an embodiment of the present disclosure.
5 is a view showing a part of the loading transfer gripper according to an embodiment of the present disclosure.
6 is a diagram for explaining a loading flip transfer unit according to an embodiment of the present disclosure.
7 is a diagram showing a part of a transport system according to an embodiment of the present disclosure.
8 is a diagram for explaining a loading buffer unit according to an embodiment of the present disclosure.
9 is an enlarged view of a module alignment unit according to an embodiment of the present disclosure.
10 is a diagram illustrating a pick and place unit according to an embodiment of the present disclosure.
11 is a diagram showing a part of a transport system according to an embodiment of the present disclosure.
12 is a diagram for explaining in detail a pick and place unit according to an embodiment of the present disclosure.
13 is a diagram showing a part of a transfer system according to an embodiment of the present disclosure.
14 is a view for explaining an unloading tray rotating unit according to an embodiment of the present disclosure.
15 is a diagram for explaining an unloading flip transfer unit 380 according to an embodiment of the present disclosure.
16 shows a loading tray and an unloading tray according to an embodiment of the present disclosure.

Advantages and features of the disclosed embodiments, and methods of achieving them, will become apparent with reference to the following embodiments in conjunction with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below and may be implemented in various different forms, only the present embodiments make the present disclosure complete, and those of ordinary skill in the art to which the present disclosure belongs It is provided only to fully inform the person of the scope of the invention.

Terms used in this specification will be briefly described, and the disclosed embodiments will be described in detail.

The terms used in this specification have been selected from general terms that are currently widely used as much as possible while considering the functions in the present disclosure, but they may vary according to the intention of a person skilled in the related field, a precedent, or the emergence of new technology. In addition, in a specific case, there is also a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the invention. Therefore, terms used in the present disclosure should be defined based on the meaning of the term and the general content of the present disclosure, not simply the name of the term.

Expressions in the singular number in this specification include plural expressions unless the context clearly dictates that they are singular. Also, plural expressions include singular expressions unless the context clearly specifies that they are plural.

When it is said that a certain part "includes" a certain component throughout the specification, it means that it may further include other components without excluding other components unless otherwise stated.

Also, the term “unit” used in the specification means a software or hardware component, and “unit” performs certain roles. However, "unit" is not meant to be limited to software or hardware. A “unit” may be configured to reside in an addressable storage medium and may be configured to reproduce on one or more processors. Thus, as an example, “unit” can refer to components such as software components, object-oriented software components, class components and task components, processes, functions, properties, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays and variables. Functionality provided within components and "parts" may be combined into fewer components and "parts" or further separated into additional components and "parts".

According to an embodiment of the present disclosure, “unit” may be implemented as a processor and a memory. The term “processor” should be interpreted broadly to include general-purpose processors, central processing units (CPUs), microprocessors, digital signal processors (DSPs), controllers, microcontrollers, state machines, and the like. In some circumstances, “processor” may refer to an application specific integrated circuit (ASIC), programmable logic device (PLD), field programmable gate array (FPGA), or the like. The term "processor" refers to a combination of processing devices, such as, for example, a combination of a DSP and a microprocessor, a combination of a plurality of microprocessors, a combination of one or more microprocessors in conjunction with a DSP core, or any other such configuration. may also refer to

The term "memory" should be interpreted broadly to include any electronic component capable of storing electronic information. The term memory includes random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), programmable read-only memory (PROM), erasable-programmable read-only memory (EPROM), electrical may refer to various types of processor-readable media, such as erasable PROM (EEPROM), flash memory, magnetic or optical data storage, registers, and the like. A memory is said to be in electronic communication with the processor if the processor can read information from and/or write information to the memory. Memory integrated with the processor is in electronic communication with the processor.

Hereinafter, with reference to the accompanying drawings, embodiments will be described in detail so that those skilled in the art can easily carry out the embodiments. And in order to clearly describe the present disclosure in the drawings, parts irrelevant to the description are omitted.

1 discloses a hardware configuration of a control unit according to an embodiment of the present disclosure.

A transport system for assembling or inspecting a camera module may include a controller 100 for controlling an operation of the transport system. The controller 100 may include a processor 110 and a memory 120 . The processor 110 may execute instructions stored in the memory 120 . The controller 100 may control movement of elements included in the transfer system based on commands stored in the memory 120 . The control unit 100 may be implemented in hardware or software. The control unit 100 may be implemented only with hardware for performing a corresponding function. However, it is not limited thereto, and the control unit 100 may be implemented as a general-purpose processor 110, and the general-purpose processor 110 of the control unit 100 may be implemented to execute a program stored in the memory 120. Hereinafter, components included in the transport system will be described, and a process for the control unit 100 to control various components included in the transport system will be described.

2 is a view showing the overall appearance of a transport system according to an embodiment of the present disclosure.

The transport system 200 may include a loading stack unit 210 and an unloading stack unit 220 . The loading stack unit 210 may have a configuration including a camera module before the orientation is changed. The loading stack unit 210 may mount at least one loading tray. The loading tray may mount at least one camera module. By mounting the loading stack unit 210 on the transport system 200, the user can move the camera module of the loading tray to the unloading tray by the transport system 200. However, it is not limited thereto, and the previous assembly device or the previous inspection device may mount the loading stack unit 210 on the transport system 200 by a conveyor belt or a robot arm. The transfer system 200 may take out the loading tray of the loading stack unit 210 received from the previous assembly device or the previous inspection device and move the camera module included in the loading tray to the unloading tray.

The unloading stack unit 220 may have a configuration including a camera module whose orientation is changed by the transfer system 200 . The unloading stack unit 220 may mount at least one unloading tray. The transport system 200 may mount the unloading tray to the unloading stack unit 220 after moving the camera module to the unloading tray. The transfer system 200 may transfer the unloading stack unit 220 on which the work is completed to the next assembly device or the next inspection device by means of a conveyor belt or a robot arm. However, the present invention is not limited thereto, and the user may transfer the unloading stack unit 220 after the work is completed to the next assembly device or the next inspection device. Since the user does not have to change the orientation of the camera module individually, work efficiency can be increased.

Below, the components included in the transport system are described in more detail.

3 shows a plan view of a transport system according to one embodiment of the present disclosure.

In FIG. 3 , some components are deleted to explain the approximate positions of the components included in the transfer system 200 . In addition, since the components included in the transport system 200 are organically coupled to change the orientation of the camera module, the areas occupied by the components may overlap, but for convenience of explanation, the areas occupied by the components in FIG. did 3 describes the moving directions of the loading tray, the unloading tray, and the camera module, and describes the positional relationship and role of a plurality of components included in the transport system 200.

Referring to FIG. 3 , the transfer system 200 includes a loading stack unit 210, a transfer unit 310, a loading flip transfer unit 320, a loading buffer unit 330, a module alignment unit 340, and a pick-and-place unit 350. ), an unloading buffer unit 360, an unloading tray rotating unit 370, an unloading flip transfer unit 380, and an unloading stack unit 220.

Inside the transport system 200, the loading tray may sequentially pass through the loading stack unit 210, the transfer unit 310, the loading flip transfer unit 320, the loading buffer unit 330, and the module alignment unit 340, The orientation of the camera module may be changed. Also, inside the transfer system 200, the camera module may be moved from the loading tray to the unloading tray by the pick and place unit 350. In addition, the unloading tray inside the transport system 200 includes an unloading buffer unit 360, an unloading tray rotating unit 370, an unloading flip transfer unit 380, a transfer unit 310, and an unloading stack unit 220. ) may be sequentially passed through, and the orientation of the camera module may be changed. The unloading tray including the camera module whose orientation is changed may be mounted on the unloading stack unit 220 and transferred to the next assembly device or the next inspection device.

The structure and movement of components included in the transport system 200 will be described below with reference to the drawings.

4 is a diagram for explaining a transfer unit according to an embodiment of the present disclosure.

The transport system 200 may include a transport unit 310 . The transfer unit 310 may include a transfer unit frame 410 . The transfer unit frame 410 may be a component constituting the skeleton of the transfer unit 310 . The transfer unit frame 410 may include a loading transfer gripper 421 , a loading identification information acquisition unit 422 , and a loading sensor unit 423 . A loading transfer gripper 421, a loading identification information acquisition unit 422, and a loading sensor unit 423 may be coupled to the transfer unit frame 410. The transfer unit frame 410, the loading transfer gripper 421, the loading identification information acquisition unit 422, and the loading sensor unit 423 may be combined to form a transfer unit frame assembly.

The transfer unit 310 may move the loading tray 440 mounted on the loading stack unit 210 in the Y-axis direction using the loading transfer gripper 421 . The loading transfer gripper 421 may move in the Y-axis direction or in the Y-axis opposite direction along the guide rail 430 for the loading transfer gripper extending in the Y-axis. The loading transfer gripper 421 may be plural. When there are a plurality of loading transfer grippers 421, the loading tray 440 can be drawn out from the loading stack unit 210 stably without shaking. Referring to FIG. 4 , the transfer unit 310 may include two loading and transfer grippers 421 side by side in the X-axis direction. In order to explain the structure of the loading transfer gripper 421 holding the object, refer to FIG. 5 for a moment.

5 is a view showing a part of the loading transfer gripper according to an embodiment of the present disclosure.

FIG. 5 is a view of FIG. 4 viewed from another viewpoint. The loading transfer gripper 421 may have a tongs shape. The loading transfer gripper 421 moves in the Z-axis direction or the opposite direction of the Z-axis by the driving unit and may include a plate-shaped first grip 510 extending in the opposite direction to the Y-axis. The loading transfer gripper 421 moves in the opposite Z-axis direction or the Z-axis direction by the driving unit, has a plate shape extending in the opposite direction of the Y-axis, and is located at the lower end of the first grip 510 (in the opposite direction to the Z-axis). 2 grips 520 may be included. 5 shows a state in which the first grip 510 and the second grip 520 are in contact.

As the first grip 510 moves in the opposite Z-axis direction and the second grip 520 moves in the Z-axis direction, the distance between the first grip 510 and the second grip 520 becomes closer, and the first grip ( 510) and the object between the second grip 520 can be caught by the loading transfer gripper 421. In addition, as the first grip 510 moves in the Z-axis direction and the second grip 520 moves in the opposite Z-axis direction, the distance between the first grip 510 and the second grip 520 increases, and the first grip 520 moves in the opposite direction. An object between the 510 and the second grip 520 may not be caught by the loading transfer gripper 421 . Here, the object may be the loading tray 440 .

In addition, after bringing the first grip 510 and the second grip 520 into contact, the first grip 510 and the second grip 520 are inserted into the hole formed in the loading tray 440, and the first grip The distance between the 510 and the second grip 520 may be controlled so that the first grip 510 and the second grip 520 grip the inner circumferential surface of the hole formed in the loading tray 440 .

The loading transfer gripper 421 may take the loading tray 440 out of the loading stack unit 210 by moving in the Y-axis direction after grabbing the loading tray 440 . The loading transfer gripper 421 may not hold the loading transfer gripper 421 when the loading tray 440 taken out from the loading stack unit 210 is located in a predetermined position. Therefore, the loading tray 440 can be moved to another place by the loading flip transfer unit.

In the above, it has been described that both the first grip 510 and the second grip 520 move, but the present invention is not limited thereto, and only one of the first grip 510 and the second grip 520 may move. For example, while only the first grip 510 moves up and down while the second grip 520 is stationary, the loading tray 440 may be held or placed.

Referring back to FIG. 4 , the transfer unit 310 may acquire identification information on at least one camera module included in the loading tray 440 using the loading identification information acquisition unit 422 . An identifier (identification information provider) may be written at a predetermined location of the loading tray 440 . The identifier (identification information provider) may have a barcode or QR code form. The loading identification information acquisition unit 422 may be a barcode reader or a QR code reader. The loading identification information acquisition unit 422 may be fixed to the transfer unit frame 410 . The loading identification information acquisition unit 422 may be facing one point. While the loading tray 440 is being moved by the loading transfer gripper 421, an identifier written on the loading tray 440 may be located at a point where the loading identification information acquisition unit 422 is directed. The loading identification information acquisition unit 422 may read the identifier written on the loading tray 440 and generate identification information for at least one camera module. The loading identification information acquisition unit 422 may transmit identification information on at least one camera module to the control unit 100 . Identification information for at least one camera module may be identification information of the loading tray 440 .

However, it is not limited thereto, and after the transfer unit 310 moves to the position of one of the plurality of loading trays included in the loading stack unit 210, the loading identification information acquisition unit 422 loads the loading stack unit ( Identification information of the loading tray 440 mounted in 210 may be acquired. After obtaining the identification information of the loading tray 440, the transfer unit 310 may move the loading tray 440 mounted on the loading stack unit 210 in the Y-axis direction using the loading transfer gripper 421. . A process of moving the transfer unit 310 to the position of one of the plurality of loading trays included in the loading stack unit 210 will be described later.

The identification information for the camera module may be identification information for each camera module included in the loading tray 440 . However, it is not limited thereto, and identification information for the camera module may be identification information for the loading tray 440 . That is, the identification information for the camera module may be identification information for the camera module group included in the loading tray 440 .

Transport system 200 may include a database. The transfer system 200 may include a variety of information corresponding to identification information on the camera module. For example, the database of the transfer system 200 includes previous work information on the camera module corresponding to identification information on the camera module, post work information on the camera module, current orientation of the camera module, change orientation of the camera module, and loading. It may include at least one of information on the position/direction of the camera module insertion hole formed in the tray 440, information on the position/direction of the camera module insertion hole formed in the unloading tray, or inspection results of the camera module.

Previous operation information on the camera module may include information on an assembly process or inspection process already performed on the loading tray 440 or the camera module before the loading tray 440 is input to the transport system 200 . The post-work information on the camera module may include information on an assembly process or an inspection process to be performed on the camera module whose orientation is changed by the transfer system 200 .

The orientation of the camera module may indicate the direction of the camera module mounted on the tray. For example, the orientation of the camera module may indicate whether one side of the camera module faces an X-axis direction, a Y-axis direction, or a Z-axis direction. The orientation of the camera module may indicate whether an angle between one side of the camera module and one side of the tray is 0 degrees, 90 degrees, 180 degrees, and 270 degrees. The orientation of the camera module may indicate whether the angle formed by one side of the camera module and the Y-axis direction is 0 degrees, 90 degrees, 180 degrees, or 270 degrees. In addition, the orientation of the camera module may indicate whether one side of the camera module faces the Z-axis direction or It can indicate whether it is facing in the opposite direction of the Z axis.

The current orientation of the camera module may represent the orientation of the camera module mounted on the loading tray 440 . The change orientation of the camera module may indicate an orientation of the camera module to be mounted on the unloading tray.

The transport system 200 may determine the current orientation of the camera module based on the identification information for the camera module. Also, the transport system 200 may determine the change orientation of the camera module based on the identification information of the camera module. Later, the pick-and-place unit 350 may pick up the camera module of the loading tray 400 based on the current orientation of the camera module and the changed orientation of the camera module, change the orientation, and mount the camera module on the unloading tray.

The transfer unit 310 may use the loading sensor unit 423 to obtain a signal indicating that the loading tray 440 is in the first position where it can be caught by the loading flip transfer unit. The loading sensor unit 423 may include a light receiving unit, an ultrasonic sensor, or a laser sensor. For example, the loading sensor unit 423 detects that the loading tray 440 is in a first position that can be caught by the loading flip transfer unit when light from the light emitting unit does not reach the light receiving unit by the loading tray 440. The indicated signal may be transmitted to the control unit 100.

The transfer unit 310 may include a transfer unit Z-axis guide rail 450 coupled to the transfer unit frame 410 to vertically move the transfer unit frame 410 . The transfer unit frame 410 may move in the Z-axis direction or in the opposite direction to the Z-axis along the transfer unit Z-axis guide rail 450 by the driving unit.

The transfer unit 310 may include a transfer unit X-axis guide rail 460 . The conveying part X-axis guide rail 460 may be fixed to the frame of the conveying system 200 . The frame of the transport system 200 may be a structure constituting the skeleton of the transport system 200 . The frame of the transfer system 200 may be made of a metal material. The transfer unit X-axis guide rail 460 may be configured to move the transfer unit Z-axis guide rail 450 parallel to the X-axis by being coupled to the transfer unit Z-axis guide rail 450 . The transport unit X-axis guide rail 460 may be parallel to the X-axis. The transport unit Z-axis guide rail 450 may move in the X-axis direction or in the opposite direction to the X-axis along the transport unit X-axis guide rail 460 by the driving unit.

Based on the transport Z-axis guide rail 450 and the transport X-axis guide rail 460, the transport frame 410 can move in the X-axis direction, the opposite X-axis direction, the Z-axis direction, or the opposite Z-axis direction.

The transfer unit 310 transfers the transfer unit frame 410 to the transfer unit Z-axis guide rail 450 and the transfer unit X-axis based on information about the position of the loading tray 440 mounted on the loading stack unit 210 from the control unit 100. By moving on the guide rail 460, the coordinates of the X-axis and Z-axis of the loading transfer gripper 421 can be matched with the coordinates of the X-axis and Z-axis of the loading tray 442. The coordinates of the X-axis and Z-axis of the loading and transporting gripper 421 may mean the coordinates of one point included in the loading and transporting gripper 421. The X-axis and Z-axis coordinates of the loading/transfer gripper 421 may mean the coordinates of a point included in the transfer frame 410 . The X-axis and Z-axis coordinates of the loading tray 442 may mean coordinates of a point included in the loading tray 442 . The loading stack unit 210 may be located at a predetermined location in the transport system 200 . In addition, the loading tray 440 may be located at a predetermined position of the loading stack unit 210 . Accordingly, the control unit 100 may store information about the position of the loading tray 440 mounted on the loading stack unit 210 in advance in a memory, or may read it from the memory.

In addition, the coordinates of the X-axis and Z-axis of the loading transfer gripper 421 coincide with the coordinates of the X-axis and Z-axis of the loading tray 442 means that the loading transfer gripper 421 can withdraw the loading tray 442 can indicate

More specifically, when the loading stack unit 210 is inserted into the transport system 200, the controller 100 may obtain information about the position of the loading tray 440 mounted on the loading stack unit 210. . Information on the position of the loading tray 440 may be a predetermined position. Information on the position of the loading tray 440 may include an X-axis value and a Z-axis value. The information on the position of the loading tray 440 may include the X-axis value and the Z-axis value of a predetermined reference point of the loading tray 440 . The transfer system 200 may move the transfer subframe 410 based on information about the position of the loading tray 440 that is predetermined. More specifically, the transport system 200 moves the transport unit frame 410 to a position corresponding to information on the position of the loading tray 440 based on the transport unit Z-axis guide rail 450 and the transport unit X-axis guide rail 460. The included loading transfer gripper 421 can be moved. The transfer system 200 may match the position of the loading tray 440 with the position of the loading transfer gripper 421 in the X-axis-Z-axis plane.

The transfer system 200 moves the transfer unit frame 410 to a position corresponding to the position information of the loading tray 440, and then uses the loading transfer gripper 421 to load the loading tray from the loading stack unit 210 ( 440) can be withdrawn. More specifically, the transfer system 200 moves the loading transfer gripper 421 in the opposite direction of the Y-axis to move the loading transfer gripper 421 toward the loading tray 440, and the loading transfer gripper 421 moves the loading tray 440 ), and move the loading transfer gripper 421 in the Y-axis direction, and control the loading transfer gripper 421 to place the loading tray 440.

The transfer unit 310 may move to the first transfer unit position 481 on the transfer unit X-axis guide rail 460 when receiving a signal indicating loading of the camera module from the control unit 100 . The first transfer unit position 481 may be adjacent to the loading flip transfer unit 320 . The transfer unit 310 may perform an operation for moving the loading tray 440 mounted on the loading stack unit 210 in the Y-axis direction using the loading transfer gripper 421 . That is, the transfer unit 310 may withdraw the loading tray 440 from the loading stack unit 210 .

The transfer unit 310 may move to the second transfer unit position 482 on the transfer unit X-axis guide rail 460 when receiving a signal indicating unloading of the camera module from the control unit 100 . The first transfer unit position 481 may be located in the direction opposite to the X-axis with respect to the second transfer unit position 482 . The second transfer unit position 482 may be adjacent to the unloading flip transfer unit 380 . The transfer unit 310 may perform an operation of mounting the unloading tray to the unloading stack unit by moving the unloading tray in the opposite direction of the Y-axis using the loading transfer gripper 421 . That is, the transfer unit 310 may mount the unloading tray on the unloading stack unit. In this way, since one transfer unit 310 can perform both loading and unloading, implementation cost of the transfer system 200 can be reduced.

When the transfer unit 310 is at the second transfer unit position 482 based on the signal indicating the unloading of the camera module, the unloading tray can be caught by the loading transfer gripper 421 using the loading sensor unit 423. A signal indicating that it is in the fourth position may be obtained. The loading sensor unit 423 sends a signal indicating that the unloading tray is in the fourth position where it can be held by the loading and transfer gripper 421 when light from the light emitting unit does not reach the light receiving unit due to the unloading tray, and the control unit 100 ) or can be transmitted to the transfer unit 310.

When the transfer unit 310 obtains a signal indicating that the unloading tray is in the fourth position, the unloading tray is moved in the opposite direction of the Y-axis using the loading transfer gripper 421 to the unloading stack unit 220. can be mounted.

When the transfer unit 310 acquires a signal indicating that the unloading tray is in the fourth position, it may further perform a step of obtaining a position on the unloading stack unit 220 where the unloading tray can be mounted. The transfer unit 310 may acquire identification information on at least one camera module included in the unloading tray by using the loading identification information acquisition unit 422 . The transfer unit 310 may acquire a position on the unloading stack unit 220 where the unloading tray can be mounted from the control unit 100 . The control unit 100 may determine a location on the pre-determined unloading stack unit 220 corresponding to the identification information of the unloading tray. The control unit 100 may store an unloading stack unit table in which identification information of the unloading tray and the position of the unloading stack unit 220 correspond in advance. The control unit 100 may acquire the position of the image of the unloading stack unit 220 corresponding to the unloading tray identification information in the unloading stack unit table.

However, the present invention is not limited thereto, and the control unit 100 may store positions of a plurality of predetermined spaces of the unloading stack unit 220 . Since the unloading stack unit 220 inserted into the transfer system 200 is initially empty, the control unit 100 fills the unloading stack unit 220 with unloading trays one by one, and selects one of a plurality of predetermined spaces. It may be storing where the loading tray is filled. Also, the control unit 100 may store the position of an image of the unloading stack unit 220 that is still empty in the unloading stack unit 220 . The control unit 100 may store the position of the still empty unloading stack unit 220 corresponding to the identification information of the unloading tray. In addition, the transfer unit 310 may insert the unloading tray into the upper position of the unloading stack unit 220 .

The position on the unloading stack unit 220 may have an X-axis value and a Z-axis value. The transport system 200 may move the transport unit frame 410 based on the position on the unloading stack unit 220 . More specifically, the conveying system 200 is included in the conveying part frame 410 at a position corresponding to the position on the unloading stack part 220 based on the conveying part Z-axis guide rail 450 and the conveying part X-axis guide rail 460. It is possible to move the loaded transfer gripper 421. The transfer system 200 may match the position of the loading transfer gripper 421 with the position on the unloading stack unit 220 in the X-axis-Z-axis plane. The transfer unit 310 may be mounted on the unloading stack unit 220 by moving the unloading tray in the opposite direction of the Y-axis using the loading transfer gripper 421 .

As such, one transfer unit 310 may perform loading and unloading operations. Loading may represent an operation of withdrawing the loading tray 440 from the loading stack unit 210 , and unloading may represent an operation of inserting the unloading tray into the unloading stack unit 220 . The transfer unit 310 may perform an operation of withdrawing the loading tray 440 of the loading stack unit 210 by moving to the first transfer unit position 481, and moving to the second transfer unit position 482 to unload the stack. An unloading tray may be inserted into the unit 220 . Since the transfer unit 310 performs loading and unloading operations, the manufacturing cost of the transfer system 200 is reduced, and the amount of operation of the control unit 100 can be reduced by reducing the subject to be controlled, and malfunction of components due to operation delay this may decrease

6 is a diagram for explaining a loading flip transfer unit according to an embodiment of the present disclosure. 7 is a diagram showing a part of a transport system according to an embodiment of the present disclosure.

The loading flip transfer unit 320 may include a first flip gripper 610 . The first flip gripper 610 may rotate based on the rotation shaft 620 based on a control signal from the control unit 100 .

Referring briefly to FIG. 7 , when the transfer system 200 obtains a signal indicating that the loading tray 440 is at the first position 710, the loading tray 440 is moved by using the first flip gripper 610. can be grabbed and moved in the Y-axis direction.

According to an embodiment of the present disclosure, before the loading flip transfer unit 320 moves the loading tray 440 in the Y-axis direction, the loading flip transfer unit 320 uses the first flip gripper 610 to A cover loading tray may be placed on top of 440. The cover loading tray may be a configuration for fixing the camera module. The cover loading tray may be configured to fix the camera module on the loading tray 440 so that it does not spill even if the loading tray 440 is turned over by the first flip gripper 610 . The cover loading tray may have the same shape as the loading tray 440 . However, it is not limited thereto. In addition, after the loading tray 440 is flipped by the loading flip transfer unit 320, the loading flip transfer unit 320 uses the first flip gripper 610 to move the loading tray 440 on the cover loading tray. can be removed. The cover loading tray may serve as the loading tray 440 . Removing the loading tray 440 may mean lifting the loading tray 440 and placing it on top of the next loading tray. If the flip is not performed, the loading flip transfer unit 320 may lift the cover loading tray again and place it on the next loading tray 440 . The operation of removing the loading tray 440 by the loading flip transfer unit 320 is such that the first flip gripper 610 moves the loading tray to the first plate 810 of the loading buffer unit 330 at the second position 720. It can be performed after placing (440). However, it is not limited thereto, and removing the loading tray 440 may mean that the loading flip transfer unit 320 places the loading tray 440 or the cover loading tray in the empty loading tray receiving unit. The empty loading tray receiving unit may be located between the first position 710 and the second position 720 on the Y axis. The location of the empty loading tray storage unit may have a different value of the Z-axis from the first location 710 and the second location 720 .

Referring back to FIG. 6 , the controller 100 may determine information on whether to flip based on the identification information. For example, the controller 100 may determine information on whether to flip based on the current orientation of the camera module and the changed orientation of the camera module. For example, if the current orientation of the camera module indicates that one surface of the camera module faces upward, but the changed orientation of the camera module indicates that the one surface of the camera module faces downward, the controller 100 provides information on whether or not the camera module is flipped. can be determined to indicate a flip. In addition, when the current orientation of the camera module indicates that one surface of the camera module faces upward and the changed orientation of the camera module also indicates that the one surface of the camera module faces upward, the control unit 100 does not flip information on whether or not the camera module is flipped. can be determined to indicate no. Here, flipping may mean that the loading tray 440 rotates by 180 degrees based on a rotational axis parallel to the X axis.

The transfer system 200 may rotate the first flip gripper 610 based on a rotational axis parallel to the X-axis based on information on whether the controller 100 determines whether to flip based on the identification information. For example, the transfer system 200 may rotate the first flip gripper 610 with respect to the rotational axis 620 parallel to the X-axis when the flipping information indicates flipping. The transport system 200 may not rotate the first flip gripper 610 with respect to the rotation axis 620 parallel to the X axis when the flipped information indicates that the flip is not flipped. The transfer system 200 may flip the loading tray 440 before the first flip gripper 610 grabs the loading tray 440 and moves in the Y-axis direction. However, it is not limited thereto, and the transport system 200 may flip the loading tray 440 while moving in the Y-axis direction.

The loading flip transfer unit 320 may include a Y-axis guide rail 630 of the loading flip transfer unit. The Y-axis guide rail 630 of the loading flip transfer unit may be fixed to the frame of the transfer system 200 . The loading flip transfer unit Y-axis guide rail 630 may be parallel to the Y-axis.

The loading flip transfer unit 320 may include a loading flip transfer unit Z-axis guide rail 640 . The loading flip transfer unit Z-axis guide rail 640 can be moved in the Y-axis direction or the Y-axis opposite direction by the Y-axis guide rail 630 of the loading flip transfer unit. The loading flip transfer unit Z-axis guide rail 640 may be parallel to the Z-axis.

The loading flip transfer unit 320 may include a flip gripper frame 650 . The flip gripper frame 650 may move up and down along the Z-axis guide rail 640 of the loading flip transfer unit. The flip gripper frame 650 may connect the first flip gripper 610 and the Z-axis guide rail 640 of the loading flip transfer unit. The first flip gripper 610 may be coupled to the flip gripper frame 650 . More specifically, the first flip gripper 610 may be connected to the flip gripper frame 650 through a rotation driver 651 . The rotation driver 651 may provide a driving force for rotating the first flip gripper 610 about the rotation axis 620 parallel to the X axis based on a control signal of the controller 100 .

The first flip gripper 610 is connected to the flip gripper frame 650 through a rotation driving unit 651, and the flip gripper frame 650 moves in the Z-axis direction by the Z-axis guide rail 640 of the loading flip transfer unit. It is movable, and the Z-axis guide rail 640 of the loading flip transfer unit may be movable in the Y-axis direction by the Y-axis guide rail 630 of the loading flip transfer unit. That is, the first flip gripper 610 is rotatable around the rotational axis 620 parallel to the X-axis by the rotation drive unit 651, and is rotatable in the Z-axis direction, in the opposite direction to the Z-axis, in the Y-axis direction, or against the Y-axis. It can move in either direction.

The first flip gripper 610 may extend in the X-axis direction with respect to the flip gripper frame 650 and be movable in the Y-axis direction with respect to the flip gripper frame 650 . More specifically, the first flip gripper 610 may be connected to the rotation driving unit 651 through the flip gripper connection unit 611 extending along the Y axis. The flip gripper connection unit 611 may include a first flip gripper driving unit 612 for moving the first flip gripper 610 in the Y-axis. The first flip gripper driver 612 may move the 1-1 flip gripper 613 in the Y-axis direction or in the Y-axis opposite direction. In addition, the first flip gripper driver 612 may move the 1-2 flip grippers 614 in the Y-axis direction or in the Y-axis opposite direction. While the 1-1 flip gripper 613 moves in the Y-axis direction and the 1-2 flip gripper 614 moves in the opposite direction of the Y-axis, the 1st flip gripper 610 can hold the loading tray 440. . In addition, while the 1-1 flip gripper 613 moves in the opposite direction of the Y-axis and the 1-2 flip gripper 614 moves in the Y-axis direction, the first flip gripper 610 places the loading tray 440. can

The first flip gripper 610 may include a first grip sensor 615 . The first grip detection sensor 615 may include a light receiving unit, an ultrasonic sensor, or a laser sensor. The first grip sensor 615 may be a sensor for checking whether the first flip gripper 610 is in a position to hold the loading tray 440 . Also, the first grip sensor 615 may be a sensor for detecting whether the first flip gripper 610 is holding the loading tray. The controller 100 may move the first flip gripper 610 to a first predetermined position 710 . The first grip sensor 615 may check whether the loading tray 440 is present at the first position 710 . When the loading tray 440 is at the first position 710, the first flip gripper 610 may hold the loading tray 440. In addition, based on the control signal of the control unit 100, the first flip gripper 610 may move to the second position 720 and then place the loading tray 440 thereon. If the first grip sensor 615 outputs a signal indicating that there is no loading tray 440 while the first flip gripper 610 moves from the first position 710 to the second position 720, The controller 100 may generate an error signal indicating that the loading tray 440 is detached and output the error signal. Due to a natural disaster, etc., the loading tray 440 may be separated from the first flip gripper 610 while being moved by the first flip gripper 610 . If the loading tray 440 falls at an arbitrary location inside the transport system 200, not only the camera module may be damaged by the moving components included in the transport system 200, but also the transport system 200 itself may be damaged. can Accordingly, when an error signal indicating that the loading tray 440 is separated is generated, the transport system 200 may control the transport system 200 to stop. Therefore, additional damage can be prevented from occurring.

Referring to FIG. 7 for a moment, the loading flip transfer unit 320 may place the loading tray 440 on the first plate 810 of the loading buffer unit 330 at the second position 720 . The loading buffer unit will be described below.

8 is a diagram for explaining a loading buffer unit according to an embodiment of the present disclosure.

Referring to FIGS. 7 and 8 together, the loading buffer unit 330 may include a first plate 810 . The loading buffer unit 330 may move the first plate 810 at the second position 720 in the Y-axis direction along the first loading buffer unit guide rail 830 parallel to the Y-axis. The loading buffer unit 330 may position the first plate 810 at a predetermined first pick-and-place position 730 .

As the first plate 810 moves in the Y-axis direction, the second plate 820 may move in the opposite Y-axis direction from the first pick-and-place position 730 . The second plate 820 may move in a direction opposite to the Y-axis along the second loading buffer unit guide rail 840 parallel to the Y-axis. The loading buffer unit 330 moves the second plate 820 in the Y-axis direction from the second position 720 as the first plate 810 moves in the opposite Y-axis direction from the first pick-and-place position 730. can The second plate 820 may move in the Y-axis direction or the Y-axis opposite direction along the second loading buffer unit guide rail 840 parallel to the Y-axis. The first plate 810 and the second plate 820 can move simultaneously. When the first plate 810 and the second plate 820 move simultaneously, they may be located at different heights on the Z-axis, so that they may not collide with each other. However, it is not limited thereto, and the first plate 810 and the second plate 820 may move independently of each other. The movement of the second plate 820 may be the same as that of the first plate 810 . Hereinafter, the first plate 810 will be mainly described, but the same description can be applied to the second plate 820 as well.

A plan view of the first plate 810 and the second plate 820 may have a “#” shape. Also, the first plate 810 and the second plate 820 may have a lattice shape. In addition, a plurality of holes may be formed in the first plate 810 and the second plate 820 . A plurality of holes formed in the first plate 810 and the second plate 820 may be used to determine whether a loading tray is placed on the first plate 810 and the second plate 820 . Grooves formed on the side surfaces of the first plate 810 and the second plate 820 may be used as spaces for the first pusher 910 and the second pusher 920 of the module alignment unit 340 to move later.

The heights of the first plate 810 and the second plate 820 can be adjusted, and the heights of the first plate 810 and the second plate 820 are controlled to be different from each other during movement, so that the first plate 810 and The second plate 820 may not collide.

Referring to the first plate 810 as a reference, the first plate 810 may be coupled to the first plate height adjusting unit 811 . The first plate height adjusting unit 811 may move the first plate 810 in the Z-axis direction or in the opposite direction to the Z-axis. When moving the first plate 810 from the second position 720 to the first pick-and-place position 730 or from the first pick-and-place position 730 to the second position 720, the controller 100 ) may adjust the height of the first plate 810 to a predetermined first height. Similarly, when moving the second plate 820 from the second position 720 to the first pick-and-place position 730 or from the first pick-and-place position 730 to the second position 720, the controller ( 100) may adjust the height of the second plate 820 to a predetermined second height. The first height and the second height may be different from each other.

In this way, since the loading buffer unit 330 of the transfer system 200 includes the first plate 810 and the second plate 820, work efficiency can be increased. The process of the pick and place unit 350 moving the camera module from the loading tray to the unloading tray may take time. Therefore, while the camera module is moved from the loading tray on the first plate 810 to the unloading tray, the second plate 820 moves to the second position 720 to receive another loading tray from the first flip gripper 610. can do. In addition, the second plate 820 moves to the first pick-and-place position 730, and after all the camera modules of the first plate 810 are transferred, the camera modules on the second plate 820 move to the pick-and-place unit 350. It can be transferred to the unloading tray by

The loading buffer unit 330 may include a tray detection sensor 812 . The tray detection sensor 812 may include a light receiving unit, an ultrasonic sensor, or a laser sensor. The tray detection sensor 812 may detect whether a loading tray is placed in the loading buffer unit 330 . That is, the tray detection sensor 812 may detect whether the first flip gripper 610 has placed the loading tray 440 on the first plate 810 . For example, the light emitting unit of the tray detection sensor 812 may emit light in the Z-axis direction. A light receiving unit is formed at an upper end of the light emitting unit to receive light from the light emitting unit. However, when the loading tray 440 is located on the first plate 810, the light from the light emitting unit does not reach the light receiving unit, so the tray detection sensor 812 detects that the loading tray 440 is located on the first plate 810. can When the loading tray 440 is placed on the first plate 810 based on the tray detection sensor 812, the controller 100 moves the first plate 810 from the second position 720 to the first pick-and-place position ( 730).

When the first plate 810 or the second plate 820 is at the first pick-and-place position 730, the controller 100 moves the loading tray 440 to a predetermined position by the module arranging unit 340. can be placed precisely in The module alignment unit 340 will be described with reference to FIGS. 8 and 9 .

9 is an enlarged view of a module alignment unit according to an embodiment of the present disclosure.

Referring to FIG. 9 , the module alignment unit 340 may include a first pusher 910 and a second pusher 920 . The second pusher 920 may be located in the Y-axis direction of the first pusher 910 . When the loading tray 440 moves to the first pick-and-place position 730, based on the control signal of the control unit 100, the module arranging unit 340 moves the first plate at the first pick-and-place position 730. It can move in the Z-axis direction from the bottom of (810). The module aligning unit 340 may include a module aligning unit guide rail 830 . The module aligning unit 340 may move along the module aligning unit guide rail 830 in the Z-axis direction or in the opposite direction to the Z-axis. The module alignment unit guide rail 930 may extend in the Z-axis direction. The module alignment unit guide rail 930 may be coupled to the transport system frame.

As the module aligning unit 340 moves in the Z-axis direction, the module aligning unit 340 may be located close to the lower end of the first plate 810 . The module aligning unit 340 may include a module aligning unit support on top of the module aligning unit guide rail 930 . The first pusher 910 and the second pusher 920 formed on the upper end of the module aligning unit support may have a plate shape protruding along the Z axis. The module alignment unit support may include a pusher guide rail extending along the Y axis. The module aligning unit support may separately include pusher guide rails for the first pusher 910 and the second pusher 920 . The first pusher 910 and the second pusher 20 may move in the Y-axis direction along the pusher guide rail or align the loading tray while moving in the opposite direction to the Y-axis.

After the module aligning unit 340 moves in the Z-axis direction and approaches the lower end of the first plate 810, the module aligning unit 340 moves the first pusher 910 in the Y-axis direction and moves the second pusher 920 in the Y-axis direction. can be moved in the opposite direction of the Y axis. That is, the first pusher 910 and the second pusher 920 may align the loading tray 440 on the first plate 810 by holding both sides of the loading tray 440 . The first pusher 910 presses the Y-axis opposite side of the loading tray 440 and the second pusher 920 presses the Y-axis direction side of the loading tray 440 so that the loading tray is precisely positioned at a predetermined position can make it

More specifically, referring to FIGS. 8 and 9, a stopper 814 for preventing the loading tray 440 from moving in the opposite direction to the X-axis may be formed on the side of the first plate 810 in the direction opposite to the X-axis. there is. In addition, a third pusher 813 may be formed on a side surface of the first plate 810 in the X-axis direction to move in the opposite direction to the X-axis and press the loading tray 440 in the opposite direction to the X-axis. The first pick-and-place position is achieved by the first pusher 910 and the second pusher 920 included in the module aligning unit 340, and the stopper 814 and the third pusher 813 included in the first plate 810. The loading tray 440 on the first plate 810 at 730 may be aligned. The first pusher 910 presses the Y-axis opposite side of the loading tray 440 in the Y-axis direction and the second pusher 920 presses the Y-axis direction side of the loading tray 440 in the Y-axis opposite direction, , The third pusher 813 may press the side of the loading tray 440 in the X-axis direction in the opposite direction to the X-axis. When the third pusher 813 presses the side in the X-axis direction of the loading tray 440 in the opposite direction of the X-axis, the loading tray 440 may be in close contact with the stopper 814 in the opposite direction of the X-axis. By pressing the third pusher 813, the stopper 814 may press the side opposite to the X-axis of the loading tray 440. By this process, the loading tray 440 can be accurately positioned at a predetermined position.

A stopper and a fourth pusher may also be formed on the second plate 820 . An operation of the fourth pusher may be the same as that of the third pusher of the first plate 810 .

As already described, the first plate 810 may have a “#” shape. The groove formed on the side of the first plate 810 may be a space for the first pusher 910 and the second pusher 920 to move. A loading tray 440 will be positioned above the first plate 810, and the first pusher 910 and the second pusher 920 included in the module alignment unit 340 come into contact with the loading tray 440 to perform loading. In order to align the trays, a space to move the first pusher 910 and the second pusher 920 may need to be formed in the first plate 810, and the groove formed on the side of the first plate 810 may provide a first The pusher 910 and the second pusher 920 may align the loading tray 440 without interference by the first plate 810 .

The module alignment unit 340 moves the first pusher 910 in the opposite direction of the Y-axis and moves the second pusher 920 in the direction of the Y-axis, so that the first pusher 910 and the second pusher 920 move the loading tray ( 440). Also, the module aligning unit 340 may move away from the first plate 810 by moving in the opposite direction of the Z axis. In the above, the operation of the module aligning unit 340 has been described based on the first plate 810, but the same explanation may be possible also on the second plate 820. Redundant descriptions are omitted.

The module aligning unit 340 may allow the camera module of the loading tray 440 to be accurately positioned at a predetermined position. Accordingly, the pick-and-place unit 350 can accurately hold the small camera module mounted on the loading tray 440 .

The module alignment unit 340 may include a loading tray detection sensor 940 . The loading tray detection sensor 940 may include a light receiving unit, an ultrasonic sensor, or a laser sensor. For example, the light emitting unit may emit light toward the light receiving unit. When the loading tray detection sensor 940 is blocked by the loading tray 440 and the light from the light emitting unit does not reach the light receiving unit, a signal indicating that the module aligning unit 340 is in a position to align the loading tray 440 may be transmitted to the control unit 100. When a signal indicating that the module aligning unit 340 is in a position to align the loading tray 440 is received, the control unit 100 operates the first pusher 910, the second pusher 920, and the third pusher 910. By moving the pusher 813, the loading tray 440 may be positioned at a specific position. When the loading tray 440 is accurately positioned at a specific location, the controller 100 may move the camera module mounted on the loading tray 440 to the unloading tray using the pick and place unit 350 .

The empty loading tray 440 may be removed from the first plate 810 . More specifically, the first plate 810 included in the loading buffer unit 330 may move the empty loading tray 440 to the second position 720 . The first flip gripper 610 included in the loading flip transfer unit 320 may move the empty loading tray 440 from the second position 720 to the first position 710 . The transfer unit 310 may mount the empty loading tray 440 on the loading stack unit 210 again. However, it is not limited thereto. The loading flip transfer unit 320 may place the empty loading tray 440 at the second position 720 in the empty loading tray receiving unit. The empty loading tray receiving unit may be located between the first position 710 and the second position 720 on the Y axis. The location of the empty loading tray storage unit may have a different value of the Z-axis from the first location 710 and the second location 720 .

10 is a diagram illustrating a pick and place unit according to an embodiment of the present disclosure. 11 is a diagram showing a part of a transport system according to an embodiment of the present disclosure.

Referring to FIGS. 10 and 11 , the pick and place unit 350 may include a vacuum gripper 1010 . The pick-and-place unit 350 grabs at least one camera module included in the loading tray 440 at the first pick-and-place position 730 using the vacuum gripper 1010 and moves it to the second pick-and-place position 1110. can be moved The vacuum gripper 1010 may place at least one camera module on the unloading tray 1030 at the second pick and place position 1110 . The second pick-and-place position 1110 may be located in the X-axis direction with respect to the first pick-and-place position 730 .

Referring to FIG. 10 , the pick and place unit 350 may include a pick and place unit guide rail 1020 extending in the X-axis direction. The pick and place unit guide rail 1020 may be coupled to the frame of the transport system 200 . The pick-and-place unit 350 moves from the first pick-and-place position 730 to the second pick-and-place position 1110 along the pick-and-place unit guide rail 1020, or moves from the second pick-and-place position 1110 to the first pick-and-place position 730. You can move to the place position 730 .

12 is a diagram for explaining in detail a pick and place unit according to an embodiment of the present disclosure.

The pick and place unit 350 may include a vacuum gripper 1010 . Referring to FIG. 12 , the pick and place unit 350 may include a plurality of vacuum grippers 1010 . A plurality of vacuum grippers may be arranged side by side in the Y-axis direction.

The vacuum gripper 1010 may include two one-side alignment protrusions (not shown) arranged vertically in the X-axis direction. In addition, the vacuum gripper 1010 may include two other alignment protrusions 1221 and 1222 arranged vertically on the opposite side of the X-axis. Also, the vacuum gripper 1010 may include an extension part 1210 so that the vacuum pad 1230 of the vacuum gripper 1010 extends to the camera module. Referring to FIG. 12 , the vacuum pad 1230 of the rightmost vacuum gripper of the pick and place unit 350 is lowered by the extension part 1210 . The pick-and-place unit 350 may lower the vacuum pad 1230 by a predetermined amount using the extension 1210 to pick up the camera module included in the loading tray 440 . After picking up the camera module, the pick and place unit 350 may lift the vacuum pad 1230 up using the extension unit 1210 . In addition, the pick-and-place unit 350 may lower the vacuum pad 1230 by a predetermined amount by using the extension 1210 to place the camera module on the unloading tray 1030 . The pick-and-place unit 350 may place the camera module on the unloading tray 1030 and then lift the vacuum pad 1230 up using the extension 1210 . As the vacuum pad is finely adjusted in this way, when the camera module is lifted from the loading tray 440 and placed on the unloading tray 1030, the camera module may not be damaged.

The pick and place unit 350 may include a vacuum gripper housing 1240 . The vacuum gripper housing 1240 may accommodate the vacuum gripper 1010 . In addition, the vacuum gripper housing 1240 may include a plurality of guide grooves 1241 into which one side alignment protrusions and the other side alignment protrusions 1221 and 1222 included in the vacuum gripper 1010 are inserted. The vacuum gripper housing 1040 may adjust the pitch of the vacuum gripper 1010 using a plurality of guide grooves.

The plurality of guide grooves 1241 may have a shape that moves in the Y-axis direction or in the opposite direction to the Y-axis as the vacuum gripper 1010 goes down. More specifically, the guide groove 1241 may have a shape toward the Y-axis direction toward the opposite direction of the Z-axis. In addition, the guide groove 1241 may be extended in the opposite direction of the Z axis. In addition, the guide groove 1241 may have a shape toward the opposite direction of the Y-axis as it goes toward the direction opposite to the Z-axis.

The vacuum gripper 1010 may move up and down with respect to the vacuum gripper housing 1040 by the driving unit 1250 . When the vacuum gripper 1010 moves up and down by the drive unit 1250, the interaction between the alignment protrusions on one side and the other alignment protrusions included in the vacuum gripper 1010 and the guide groove 1241 formed on the vacuum gripper housing 1040 The pitch of the vacuum gripper can be adjusted by this. The pitch of the vacuum grippers may mean a distance between adjacent vacuum grippers. Referring to FIG. 12 , when the vacuum gripper 1010 is moved down by the driving unit 1250, the pitch of the vacuum gripper may be increased. Also, when the vacuum gripper 1010 is moved upward by the driving unit 1250, the pitch of the vacuum gripper may be shortened.

The controller 100 may determine the first pitch of the loading tray 440 and the second pitch of the unloading tray based on the identification information. The first pitch of the loading tray 440 may mean a distance between adjacent camera modules on the loading tray 440 . The second pitch of the unloading tray 1030 may mean a distance between adjacent camera modules on the unloading tray 1030 . More specifically, the transport system 200 may store the first pitch of the loading tray 440 corresponding to the identification information. In addition, the transfer system 200 may store the second pitch of the unloading tray in response to the identification information. The control unit 100 may determine the first pitch and the second pitch corresponding to the identification information obtained from the transfer unit 310 .

Also, the transfer system 200 may control the pitch of the vacuum gripper to be the first pitch. More specifically, the transport system 200 may determine a first height of the vacuum gripper 1010 relative to the vacuum gripper housing 1240 based on the first pitch. As already described, the pitch of the vacuum gripper may be determined based on the height of the vacuum gripper 1010 relative to the vacuum gripper housing 1240. The transfer system 200 may store a pitch determination table in which the height of the vacuum gripper 1010 relative to the vacuum gripper housing 1240 corresponds to the pitch of the vacuum gripper. The transfer system 200 may determine the first height of the vacuum gripper 1010 corresponding to the first pitch based on the pitch determination table.

The transport system 200 may determine a second height of the vacuum gripper relative to the vacuum gripper housing 1240 based on the second pitch. The transfer system 200 may determine the second height of the vacuum gripper 1010 corresponding to the second pitch based on the pitch determination table.

The transfer system 200 may control the vacuum gripper 1010 to be positioned at a first height relative to the vacuum gripper housing 1240 . Accordingly, the pitch of the vacuum gripper may be the first pitch. The pick-and-place unit 350 may hold at least one camera module included in the loading tray 440 at the first pick-and-place position 730 .

Since the transfer system 200 adjusts the height of the vacuum gripper 1010 using the drive unit 1250 according to the pitch, the distance between the lower end of the vacuum pad 1230 and the camera module may vary according to the pitch. Therefore, when the vacuum pad 1230 grips the camera, the transport system 200 uses the vacuum gripper ( 1010) can always keep the sum of the distances down.

The transfer system 200 may control the vacuum gripper 1010 to be positioned at the second height while moving the vacuum gripper 1010 to the second pick-and-place position 1110 . However, the present invention is not limited thereto, and the transfer system 200 allows the vacuum gripper 1010 to be located at the second height after the vacuum gripper 1010 is moved to the second pick-and-place position 1110. The pitch of can be adjusted to the second pitch. The pick-and-place unit 350 may place at least one camera module down on the unloading tray 1030 at the second pick-and-place position 1110 .

Since the loading tray 440 is positioned at an accurate predetermined position by the module arranging unit 340 , the pick and place unit 350 can go to the predetermined position and pick up the camera module from the loading tray 440 . In addition, since the unloading tray 1030 is also located at a predetermined position, the pick and place unit 350 may go to the predetermined position and place the camera module on the unloading tray 1030 . However, a case in which the alignment between the loading tray 440 and the pick and place unit 350 may be disturbed may occur. In addition, a case in which the alignment between the unloading tray 1030 and the pick and place unit 350 may be disturbed may occur. Accordingly, the pick and place unit 350 may include a photographing unit. The photographing unit may photograph the loading tray 440 and the unloading tray 1030 including a plurality of positioners. The pick-and-place unit 350 may obtain an image of the loading tray 440 or the unloading tray 1030 after moving to a pre-designated location. The controller 100 may acquire the positions of a plurality of positioners in the image of the loading tray 440 or the unloading tray 1030 . The control unit 100 may obtain a difference vector between the positions of a plurality of positioners and the positions of a plurality of predetermined reference positioners. The control unit 100 may obtain a subtraction vector by subtracting the positions of the reference positioners respectively corresponding to the positions of the plurality of positioners. Since subtraction vectors are acquired for each position of a plurality of positioners, the control unit 100 can obtain a plurality of subtraction vectors. The controller 100 may obtain a representative subtraction vector by averaging a plurality of subtraction vectors. The control unit 100 may obtain alignment information corresponding to the representative subtraction vector. The transfer system 200 may previously store alignment information corresponding to the representative subtraction vector as an alignment table. The alignment information may be information about a moving distance of the pick-and-place unit 350 to align the pick-and-place unit 350 with the loading tray 440 or the unloading tray 1030 . Information on the movement distance of the pick and place unit 350 may include a value on the X axis. The pick-and-place unit 350 may move along the pick-and-place unit guide rail 1020 based on information about the moving distance of the pick-and-place unit 350 . In this way, the pick and place unit 350 may be aligned with the loading tray 440 or the unloading tray 1030 at a predetermined cycle.

The unloading tray 1030 in the second pick-and-place position 1110 can be moved to the third position 1120 by the unloading buffer unit 360 . The unloading buffer unit 360 may have the same structure as the loading buffer unit 330 . The unloading tray 1030 may be positioned above the third plate at the second pick and place position 1110 . The third plate may correspond to the first plate 810 . Accordingly, description of the first plate 810 may be referred to as description of the third plate. A difference between the third plate and the first plate 810 may be the shape of the plate. The first plate may have a “#” shape. However, the third plate may have a “ㅁ” or “O” shape. The hole of the third plate may be used to determine whether the unloading tray 1030 is present on the third plate. The third plate may move from the second pick-and-place position 1110 to the third position 1120 while supporting the unloading tray 1030 from below. The third plate may move in the opposite direction of the Y-axis along the first unloading buffer part guide rail parallel to the Y-axis to position the unloading tray 1030 at a predetermined third position. The third position may be a position where the unloading tray 1030 can be held by the unloading flip transfer unit 380 . Also, the third position may be a position where the unloading tray 1030 can be rotated by the unloading tray rotation unit 370 .

As the third plate moves in the direction opposite to the Y-axis, the fourth plate can be moved in the Y-axis direction from the third position. The fourth plate may correspond to the second plate 820 . Accordingly, the description of the second plate 820 may be referred to as the description of the fourth plate. A difference between the fourth plate and the second plate 820 may be the shape of the plate. The second plate 820 may have a “#” shape. However, the fourth plate may have a “ㅁ” or “O” shape. The hole of the fourth plate may be used to determine whether the unloading tray 1030 is present on the fourth plate. As the third plate moves in the direction opposite to the Y-axis, the fourth plate may move in the Y-axis direction from the third position 1120 . The fourth plate may move in the Y-axis direction along the second unloading buffer unit guide rail parallel to the Y-axis. The unloading buffer unit 360 may move the fourth plate in the Y-axis direction from the third position 1120 as the third plate moves in the opposite Y-axis direction from the second pick-and-place position 1110 . The fourth plate may move in the Y-axis direction or in the Y-axis counter direction along the second unloading buffer part guide rail parallel to the Y-axis.

The third plate and the fourth plate can move simultaneously. When the third plate and the fourth plate are simultaneously moved, they may be located at different heights on the Z axis, and thus may not collide with each other. However, it is not limited thereto, and the third plate and the fourth plate may move independently of each other. The movement of the fourth plate may be the same as that of the third plate. In the following description, the third plate will be mainly described, but the same description can be applied to the fourth plate.

13 is a diagram showing a part of a transfer system according to an embodiment of the present disclosure.

14 is a view for explaining an unloading tray rotating unit according to an embodiment of the present disclosure.

The transport system 200 may include an unloading tray rotation unit 370 . The unloading tray rotation unit 370 may be configured to rotate the unloading tray 1030 around a rotation axis parallel to the Z axis. The unloading tray rotating unit 370 may include a tray support 1410 supporting the unloading tray 1030 . A rubber pad for increasing frictional force may be formed on the upper surface of the tray support 1410 . When the tray support 1410 comes into contact with the unloading tray 1030, the unloading tray 1030 may not slip due to the rubber pad.

The unloading tray rotation unit 370 may include a rotation drive unit 1430 for rotating the tray support 1410 around a rotation axis parallel to the Z axis. In addition, the unloading tray rotating unit 370 may include a guide rod 1420 for vertically driving the tray support 1410 . The tray support 1410 is supported by the guide rod 1420 and can move up and down.

The control unit 100 may determine information on whether or not to rotate based on the identification information. Information about whether to rotate may include information about whether to rotate and information about the degree of rotation. For example, the controller 100 may determine information on whether to flip based on the current orientation of the camera module and the changed orientation of the camera module. For example, if the current orientation of the camera module indicates that one side of the camera module faces the Y-axis direction, but the changed orientation of the camera module indicates that the one side of the camera module faces the opposite Y-axis direction, the controller 100 It can be determined that the information on whether or not to rotate indicates a rotation of 180 degrees. In addition, if the current orientation of the camera module indicates that one side of the camera module faces the Y-axis direction, and the changed orientation of the camera module also indicates that the one side of the camera module faces the Y-axis direction, the controller 100 determines whether or not to rotate. It can be decided to indicate that the information is not rotated.

13 and 14, the third plate has completed the movement to the third position 1120, and the tray detection sensor included in the unloading buffer unit 360 indicates that the unloading tray 1030 is on the third plate. When indicating that it is positioned, the transport system 200 may perform rotation based on information on whether or not to rotate. If the information on whether or not to rotate indicates that it is not rotated, the transport system 200 may not move the unloading tray rotation unit 370 .

When the information about rotation indicates rotation, the transport system 200 may move the unloading tray rotation unit 370 under the third plate at the third position 1120 in the Z-axis direction. More specifically, the tray support 1410 may be moved in the Z-axis direction by the guide rod 1420 . As already described, the third plate may have a “ㅁ” or “O” shape. That is, a hole may be formed in the center of the third plate. In addition, the unloading tray rotating unit 370 may pass through a hole formed in the third plate to support the unloading tray from below. The upper surface of the tray support 1410 of the unloading tray rotating unit 370 may be higher than the upper surface of the third plate. Based on the information about rotation or not determined by the control unit 100 based on the identification information, the transport system 200 may rotate the unloading tray based on a rotational axis parallel to the Z axis. More specifically, the unloading tray 1030 may also be rotated along with the tray support 1410 by the rotary driving unit 1430 . The transport system 200 may move the unloading tray rotation unit 370 in the opposite direction of the Z axis again. The unloading tray rotation unit 370 may pass through a hole formed in the third plate and move under the third plate. The unloading tray 1030 may be supported by the third plate again.

15 is a diagram for explaining an unloading flip transfer unit 380 according to an embodiment of the present disclosure.

The transfer system may include an unloading flip transfer unit 380 . The unloading flip transfer unit 380 grabs the unloading tray 1030 at the third position 1120 using the second flip gripper 1510 and moves it in the opposite direction of the Y axis to the fourth position 1310. can make it Unlike the loading flip transfer unit 320, the unloading flip transfer unit 380 may not rotate the unloading tray 1030 about a rotational axis parallel to the X axis. However, it is not limited thereto. The unloading flip transfer unit 380 may include the same configuration as the loading flip transfer unit 320 .

The transfer system 200 may rotate the second flip gripper 1510 based on a rotational axis parallel to the X-axis based on the flipping or non-flipping information determined by the control unit 100 based on the identification information. Since the process of determining information on whether to flip has already been described, a duplicate description will be omitted.

According to an embodiment of the present disclosure, before the unloading flip transfer unit 380 moves the unloading tray 1030 in the opposite direction of the Y-axis, the unloading flip transfer unit 380 moves the second flip gripper 1510. A cover loading tray can be placed on top of the unloading tray 1030 by using. The cover loading tray may be a configuration for fixing the camera module. The cover loading tray may be configured to fix the camera module on the unloading tray 1030 so as not to spill even if the unloading tray 1030 is overturned by the second flip gripper 1510 . The cover loading tray may have the same shape as the unloading tray 1030 . However, it is not limited thereto. In addition, after the unloading tray 1030 is flipped by the unloading flip transfer unit 380, the unloading flip transfer unit 380 performs unloading on the cover loading tray using the second flip gripper 1510. Tray 1030 can be removed. In this case, the cover loading tray may serve as the unloading tray 1030 . Removing the unloading tray 1030 may mean lifting the unloading tray 1030 and placing it on top of the next unloading tray. If the flip is not performed, the unloading flip transfer unit 380 may lift the cover loading tray again and place it on the next unloading tray 1030 . An operation in which the unloading flip transfer unit 380 removes the unloading tray 1030 may be performed after the second flip gripper 1510 moves to the fourth position 1310 .

The unloading flip transfer unit 380 may include an unloading flip transfer unit Y-axis guide rail 1530 . The unloading flip transfer unit Y-axis guide rail 1530 may be fixed to the frame of the transfer system 200 . The unloading flip transfer unit Y-axis guide rail 1530 may be parallel to the Y-axis.

The unloading flip transfer unit 380 may include an unloading flip transfer unit Z-axis guide rail 1540 . The unloading flip transfer unit Z-axis guide rail 1540 can be moved in the Y-axis direction or in the opposite direction to the Y-axis by the Y-axis guide rail 1530 of the unloading flip transfer unit. The unloading flip transfer unit Z-axis guide rail 1540 may be parallel to the Z-axis.

The unloading flip transfer unit 380 may include a flip gripper frame 1550. The flip gripper frame 1550 may move up and down along the Z-axis guide rail 1540 of the unloading flip transfer unit. The flip gripper frame 1550 may connect the second flip gripper 1510 and the Z-axis guide rail 1540 of the unloading flip transfer unit. The second flip gripper 1510 may be coupled to the flip gripper frame 1550 .

The second flip gripper 1510 is coupled to the flip gripper frame 1550, and the flip gripper frame 1550 is movable in the Z-axis direction by the Z-axis guide rail 1540 of the unloading flip transfer unit. The flip transfer unit Z-axis guide rail 1540 may be movable in the Y-axis direction by the Y-axis guide rail 1530 of the unloading flip transfer unit. That is, the second flip gripper 1510 may be movable in the Z-axis direction, the opposite Z-axis direction, the Y-axis direction, or the opposite Y-axis direction.

The second flip gripper 1510 may extend in an X-axis direction opposite to the flip gripper frame 1550 and be movable in a Y-axis direction with respect to the flip gripper frame 1550 . More specifically, the second flip gripper 1510 may be connected to the flip gripper frame 1550 through the flip gripper connecting portion 1511 extending along the Y axis. The flip gripper connection unit 1511 may include a second flip gripper driving unit 1512 for moving the second flip gripper 1510 in the Y-axis. The second flip gripper driver 1512 may move the 2-1 flip gripper 1513 in the Y-axis direction or in the opposite Y-axis direction. Also, the second flip gripper driving unit 1512 may move the 2-2 flip gripper 1514 in the Y-axis direction or in the opposite Y-axis direction. While the 2-1 flip gripper 1513 moves in the Y-axis direction and the 2-2 flip gripper 1514 moves in the opposite direction of the Y-axis, the 2-2 flip gripper 1510 can place the unloading tray 1030. there is. In addition, while the 2-1 flip gripper 1513 moves in the opposite Y-axis direction and the 2-2 flip gripper 1514 moves in the Y-axis direction, the 2-2 flip gripper 1510 moves the unloading tray 1030. can catch

The second flip gripper 1510 may include a second grip sensor 1515 . The second grip detection sensor 1515 may include a light receiving unit, an ultrasonic sensor, or a laser sensor. The second grip sensor 1515 may be a sensor for checking whether the second flip gripper 1510 is in a position to hold the unloading tray 1030 . Also, the second grip sensor 1515 may be a sensor for detecting whether the second flip gripper 1510 is holding the unloading tray 1030 . The controller 100 may move the second flip gripper 1510 to a predetermined third position 1120 . The second grip sensor 1515 may check whether the unloading tray 1030 is present at the third position 1120 . When the unloading tray 1030 is located at the third position 1120, the second flip gripper 1510 can hold the unloading tray 1030. In addition, based on the control signal of the control unit 100, the second flip gripper 1510 may move to the fourth position 1310 and then place the unloading tray 1030 thereon. If the second grip sensor 1515 outputs a signal indicating that there is no unloading tray 1030 while the second flip gripper 1510 moves from the third position 1120 to the fourth position {1310} , The controller 100 may generate an error signal indicating that the unloading tray 1030 is detached, and output the error signal. Due to a natural disaster, the unloading tray 1030 may be separated from the second flip gripper 1510 while moving by the second flip gripper 1510 . When the unloading tray 1030 falls at an arbitrary location inside the transport system 200, not only the camera module can be damaged by the moving components included in the transport system 200, but also the transport system 200 itself is damaged. It can be. Accordingly, when an error signal indicating that the unloading tray 1030 is separated is generated, the transport system 200 may control the transport system 200 to stop. Therefore, additional damage can be prevented from occurring.

The transfer unit 310 may move to the second transfer unit position 482 on the transfer unit X-axis guide rail 460 when receiving a signal indicating unloading of the camera module from the control unit 100 . The first transfer unit position 481 may be located in the direction opposite to the X-axis with respect to the second transfer unit position 482 .

The transport system 200 may mount the unloading tray 1030 on the unloading stack unit 220 using the transport unit 310 . The transfer unit 310 may obtain identification information of the unloading tray 1030 from the unloading tray 1030 using the loading identification information obtaining unit 422 . Identification information may have a barcode or QR code form. The loading identification information acquisition unit 422 may be a barcode reader or a QR code reader. The transfer system 200 may correspondingly store the location of the unloading tray 1030 in the unloading stack unit 220 together with the identification information of the unloading tray 1030 .

In this way, the transport system 200 may move the camera module from the loading tray 440 to the unloading tray 1030 . Also, the transport system 200 may correct the orientation of the camera module. Accordingly, the transport system 200 may automatically move the camera module included in the loading tray received from the previous inspection device or the previous assembly device to the unloading tray for the next inspection device or the next assembly device. Therefore, the worker can reduce the workload. In addition, productivity can be increased because the tray is moved and the orientation is changed faster than the operator.

Hereinafter, examples of the loading tray 440 and the unloading tray 1030 will be described.

16 shows a loading tray and an unloading tray according to an embodiment of the present disclosure.

The loading tray and the unloading tray may be different from each other. The loading tray and the unloading tray may have different shapes. The loading tray and the unloading tray may differ in at least one of a maximum number of camera modules capable of being mounted, a mounting orientation of the camera module, a position determiner, and a location of an identification information provider (identifier).

For example, the loading tray 440 may mount camera modules in 7 rows and 3 columns. However, the unloading tray 1030 may mount camera modules in 4 rows and 2 columns. In addition, the loading tray 440 may be mounted so that one side of the camera module faces upward. However, the unloading tray 1030 may be mounted such that one side of the camera module faces the right side. In this way, since the shape of the loading tray 440 used in the previous inspection device or the previous assembly device is different from the shape of the unloading tray 1030 used in the later inspection device or the later assembly device, the transport system 200 automatically loads By moving the camera module of the tray 440 to the unloading tray 1030, work efficiency can be increased.

The position determiners 1610 and 1620 may be components for determining the position of the camera module in the loading tray 440 or the unloading tray 1030 . In addition, the positioner 1610 may be configured to align the loading tray 440 and the pick and place unit 350 . Also, the positioner 1620 may be a component for aligning the alignment of the unloading tray 1030 and the pick and place unit 350 . The transport system 200 acquires images of the loading tray 440 or the unloading tray 1030 with a camera, and then determines the positioners 1610 and 1620 in the images to accurately locate the camera module in the loading tray 440. , or the location of the unloading tray 1030 to place the camera module can be accurately determined. A relationship between the position determiners 1610 and 1620 and the position of the camera module may be predetermined. The transport system can determine the location of the camera module on the loading tray 440 and the location of the camera module on the unloading tray 1030 in the image by determining the location of the positioners 1610 and 1620 in the image. In addition, the location of the camera module on the loading tray 440 and the location of the camera module on the unloading tray 1030 in the image may have a one-to-one correspondence with the actual location, and the transport system 200 may have a pre-stored location The pick and place unit 350 may be positioned based on the decision table. More specifically, the transport system 200 moves the pick-and-place unit 350 to the camera module of the loading tray 440 based on the positioning table, grabs the camera module, and mounts the camera module on the unloading tray 1030 You can place the camera module exactly in the position.

Since the configuration for aligning the loading tray 440 and the pick-and-place unit 350 has already been described, duplicate descriptions will be omitted. Since the process of aligning the unloading tray 1030 and the pick-and-place unit 350 is the same as the process of aligning the loading tray 440 and the pick-and-place unit 350, duplicate descriptions will be omitted.

The loading tray 440 may include an identifier 1630 . The identifier of the loading tray 440 can be read by the loading identification information acquisition unit 422 . The identifier may have a barcode or QR code form. The loading identification information acquisition unit 422 may be a barcode reader or a QR code reader. The loading identification information obtaining unit 422 may read the identifier of the loading tray 440 to obtain identification information on at least one camera module. Identification information for at least one camera module may be identification information for the loading tray 440 . The loading identification information acquisition unit 422 may transmit identification information on at least one camera module to the control unit 100 . 16 shows two identifiers 1630 on the loading tray 440 . In this way, when the loading tray 440 includes a plurality of identifiers, the case where the loading identification information acquisition unit 422 misses the identifier 1630 can be reduced. However, it is not limited thereto. The loading tray 440 may include one identifier 1630 .

The unloading tray 1030 may include an identifier 1650 . The identifier of the unloading tray 1030 may be read by the loading identification information acquisition unit 422 . The loading identification information obtaining unit 422 may read the identifier of the unloading tray 1030 to obtain identification information on at least one camera module. Identification information for at least one camera module may be identification information for the unloading tray 1030 . The loading identification information acquisition unit 422 may transmit identification information on at least one camera module to the control unit 100 . 16 shows two identifiers 1640 on the unloading tray 1030. In this way, when the unloading tray 1030 includes a plurality of identifiers, the case where the loading identification information acquisition unit 422 misses the identifier 1640 can be reduced. However, it is not limited thereto. The unloading tray 1030 may include one identifier 1640 .

Even if the shapes of the loading tray 440 and the unloading tray 1030 are different in this way, the transfer system 200 automatically moves the camera module of the loading tray 440 to the unloading tray 1030 quickly, thereby improving work efficiency. can increase

So far, we have looked at various embodiments. Those skilled in the art to which the present invention pertains will be able to understand that the present invention can be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered from an illustrative rather than a limiting point of view. The scope of the present invention is shown in the claims rather than the foregoing description, and all differences within the equivalent scope will be construed as being included in the present invention.

On the other hand, the above-described embodiments of the present invention can be written as a program that can be executed on a computer, and can be implemented in a general-purpose digital computer that operates the program using a computer-readable recording medium. The computer-readable recording medium includes storage media such as magnetic storage media (eg, ROM, floppy disk, hard disk, etc.) and optical reading media (eg, CD-ROM, DVD, etc.).

Claims (8)

In the transport system for assembling or inspecting the camera module,
a controller for controlling the operation of the transport system;
The loading tray mounted on the loading stack unit is moved in the Y-axis direction using a loading transfer gripper, and identification information for at least one camera module included in the loading tray is acquired using a loading identification information acquisition unit, and loading a transfer unit that obtains a signal indicating that the loading tray is in a first position where it can be grasped by the loading flip transfer unit using a sensor unit;
When a signal indicating that the loading tray is in the first position is obtained, the first flip gripper is used to hold the loading tray and move it in the Y-axis direction, and the control unit determines whether the flip is determined based on the identification information. a loading flip transfer unit which rotates the first flip gripper on a rotational axis parallel to the X-axis based on the information about the load and places the loading tray on the first plate of the loading buffer unit at a second position;
The first plate at the second position is moved in the Y-axis direction along the first loading buffer unit guide rail parallel to the Y-axis to be positioned at a predetermined first pick-and-place position, and the first plate moves in the Y-axis direction. a loading buffer unit that moves the second plate in the opposite direction of the Y-axis from the first pick-and-place position according to the movement;
After moving in the Z-axis direction under the first plate at the first pick-and-place position, the first pusher is moved in the Y-axis direction, and the second pusher located in the Y-axis direction of the first pusher is moved in the opposite Y-axis direction. a module alignment unit that moves and aligns the loading tray on the first plate and moves in the opposite direction of the Z-axis;
Grab the at least one camera module included in the loading tray at the first pick-and-place position using a vacuum gripper, move it to a second pick-and-place position, and place the camera module on the unloading tray at the second pick-and-place position. a pick-and-place unit for placing at least one camera module;
The unloading tray is located above the third plate at the second pick-and-place position, and the third plate is moved along the first unloading buffer guide rail parallel to the Y-axis in the direction opposite to the Y-axis to move the third plate in the direction opposite to the Y-axis. an unloading buffer unit positioned at position 3 and moving the fourth plate in the Y-axis direction from the third position as the third plate moves in the direction opposite to the Y-axis;
Whether the unloading tray is supported from below through a hole formed in the third plate by moving in the Z-axis direction from below the third plate at the third position, and rotation determined by the control unit based on the identification information An unloading tray rotation unit that rotates the unloading tray based on the information about the rotation axis parallel to the Z axis and moves in the opposite direction to the Z axis again;
And an unloading flip transfer unit for holding the unloading tray in the third position using a second flip gripper and moving it in the opposite direction of the Y-axis to position it in a fourth position,
A transport system for mounting the unloading tray on an unloading stack unit using the transport unit.
According to claim 1,
The transfer unit,
a transfer unit frame combining the loading transfer gripper, the loading identification information obtaining unit, and the loading sensor unit;
a conveying part Z-axis guide rail coupled to the conveying part frame to vertically move the conveying part frame; and
It is fixed to the frame of the conveying system, and is coupled to the conveying part Z-axis guide rail to include a conveying part X-axis guide rail parallel to the X axis for moving the conveying part Z-axis guide rail in parallel to the X axis,
The transfer unit moves the transfer unit frame on the transfer unit Z-axis guide rail and the transfer unit X-axis guide rail based on information about the position of the loading tray mounted on the loading stack unit from the control unit, so that the X-axis and A transport system such that the Z-axis coordinates coincide with the X-axis and Z-axis coordinates of the loading tray.
According to claim 2,
The transfer unit,
When receiving a signal indicating the loading of the camera module from the control unit, the transfer unit moves to the first transfer unit position on the X-axis guide rail, and the loading tray mounted on the loading stack unit is moved to the Y-axis using the loading transfer gripper. move in the direction
When receiving a signal indicating unloading of the camera module from the control unit, the transfer unit moves to the second transfer unit position on the X-axis guide rail,
The transport system of claim 1 , wherein the location of the first transport unit is located in the direction opposite to the X-axis with respect to the location of the second transport unit.
According to claim 3,
When the transfer unit is at the second transfer unit position based on the signal indicating unloading of the camera module,
Obtaining a signal indicating that the unloading tray is in the fourth position that can be held by the loading transfer gripper using the loading sensor unit, and acquiring a signal indicating that the unloading tray is in the fourth position In this case, the unloading tray is moved in the opposite direction of the Y-axis using the loading transfer gripper and mounted on the unloading stack unit, and the at least one camera module included in the unloading tray is mounted using the loading identification information acquisition unit. A transport system that acquires identification information about
According to claim 1,
The pick and place unit,
It includes two alignment protrusions on one side arranged vertically in the X-axis direction, and includes two alignment protrusions on the other side arranged vertically on the opposite side in the X-axis direction, and the vacuum pad of the vacuum gripper extends to the camera module. The vacuum gripper including a part; and
A vacuum gripper housing for accommodating the vacuum gripper and including a plurality of guide grooves into which one alignment protrusion and the other alignment protrusion included in the vacuum gripper are inserted to adjust the pitch of the vacuum gripper,
The plurality of guide grooves have a shape that moves in the Y-axis direction or moves in the opposite direction of the Y-axis as the vacuum gripper goes down,
The control unit,
Determining a first pitch of the loading tray and a second pitch of the unloading tray based on the identification information;
determining a first height of the vacuum gripper relative to the vacuum gripper housing based on the first pitch;
determining a second height of the vacuum gripper relative to the vacuum gripper housing based on the second pitch;
holding the at least one camera module included in the loading tray at the first pick-and-place position by controlling the vacuum gripper to be positioned at the first height;
The transfer system controls the vacuum gripper to be positioned at the second height while moving the vacuum gripper to the second pick-and-place position.
According to claim 1,
The loading tray and the unloading tray are different in at least one of a maximum number of camera modules capable of being mounted, a mounting orientation of the camera module, a position determiner, and a location of an identification information provider.
According to claim 1,
The loading flip transfer unit,
a Y-axis guide rail fixed to the frame of the transport system and parallel to the Y-axis;
a loading flip transfer unit Z-axis guide rail that moves in the Y-axis direction or the opposite direction of the Y-axis by the loading flip transfer unit Y-axis guide rail and is parallel to the Z-axis;
a flip gripper frame that moves up and down along the Z-axis guide rail of the loading flip transfer unit and connects the first flip gripper with the Z-axis guide rail of the loading flip transfer unit; and
The first flip gripper includes a grip sensor extending in an X-axis direction with respect to the flip gripper frame, movable in a Y-axis direction with respect to the flip gripper frame, and detecting whether or not the loading tray is being held. Conveying system including
According to claim 1,
A stopper for preventing the loading tray from moving in the opposite direction to the X-axis is formed on a side surface of the first plate in the direction opposite to the X-axis,
A third pusher is formed on the side surface of the first plate in the X-axis direction to move in the opposite direction to the X-axis and press the loading tray in the opposite direction to the X-axis,
A transport system for aligning the loading tray on the first plate at the first pick-and-place position by the first pusher, the second pusher, the stopper, and the third pusher.

Images