KR20080081708A - Transferring and loading apparatus for possess low tolerance and multiple centering ability - Google Patents

Abstract

A transferring and loading apparatus having low tolerance and multiple centering functions is provided to minimize tolerance by fixing a tray to be loaded and a loaded lower tray with each other. In a transferring and loading apparatus having low tolerance and multiple centering functions, a servo motor(20) receives model data, initial position information, and target position information of a BLU and a tray. A clamp cylinder unit, a first horizontal cylinder unit, a second horizontal cylinder unit, and a vertical cylinder unit are operated by receiving pneumatic pressure according to control of the servo motor. A clamp unit(40), a vertical operation unit(50), and a horizontal operation unit(60) are connected to front ends of operation rods of the cylinder units.

Description

Transferring and loading apparatus for possessing low tolerance and multiple centering ability}

       1 is a perspective view showing a preferred form of the present invention

Figure 2 is a process diagram showing an embodiment of the center of the BLU due to the crimping and insertion of the clamp portion of the present invention

Figure 3 is a process diagram showing an embodiment of centering the tray due to the compression and insertion of the vertical operating unit of the present invention

Figure 4 is a process diagram showing an example of the embodiment in which the vertical actuating unit of the present invention is centered on the tray BLU centered;

5 is a process diagram showing an example of a preferred embodiment of the horizontal and vertical operating portion of the present invention;

Figure 6 is a process diagram showing an embodiment of the vertical operating unit of the present invention fixed to the lower tray stacking

■ Explanation of symbols used in main part of drawing ■

10: robot arm 20: servo motor

40: clamp portion 40a: clamp guide

40b: Clamp Chuck 50: Vertical Actuator

50a: Vertical Actuator Guide 50b: Vertical Actuator Chuck

60: horizontal operating unit 60a: horizontal operating unit guide

60b: Horizontal Actuator Chuck 70: BLU

80: tray 90: lower tray

100: clamp cylinder portion 110: the first horizontal cylinder portion

120: second horizontal cylinder portion 130: vertical cylinder portion

The present invention is a centering device and method for an automated installation consisting of the front end of the articulated robot arm, the centering device is driven by a servo motor to transfer and load in the next process in the production process of electronic materials such as BLU and tray In the lower stage, the clamp unit, the horizontal operating unit, the vertical operating unit, which are operated through pneumatic cylinders, and the grooves are formed on each side of the BLU and the tray to be inserted and pressed into the clamp unit, the horizontal operating unit It relates to a transfer and insertion stacking device equipped with a minimized tolerance tolerance and multi-center centering, characterized in that the vertical operation by fixing the tray to the centered BLU and the tray can be mounted on a fixed tray,

Conventionally, when an electronic material such as a BLU or a tray is not transferred to or loaded in a next process in a state in which centering is not performed, defects may occur on the surface or a cumulative tolerance may occur, such that the next process may not proceed smoothly. Patent Publication No. 2000-0061202 is a chuck that rotates by adsorbing a wafer in a vacuum, and to provide a rotational force connected to the lower portion of the chuck, a chuck support having a vacuum line therein, and Two centering guides are formed in a round shape so that a surface contacting the side surface of the wafer adsorbed by the chuck is spaced from the left and right, and the centering guide is connected to the centering guide to adjust the centering guide left and right or up and down. It is provided with an arm.

The above technique is limited in the size of the chuck centering the wafer, that is, having a device conforming to one specification, the centering has been performed after the process or loading process, these known techniques are limited to materials of the same size Has been used. Therefore, additional costs have been incurred, such as having a centering device that meets specifications when transferring and loading materials with different specifications, and processes have been additionally generated, resulting in a significant drop in effectiveness.

      Accordingly, the present invention has been made to solve the above problems

Servo which inputs incremental value through the standard value of BLU 70 and tray 80, the position information of the first BLU 70 and tray 80, the position information value to be transported and loaded, and the standard value of tray 80 The motor 20, the BLU (70) and the tray 80 by pressing and inserting the clamping portion 40, the vertical operation portion 50, the horizontal operation portion 60 is configured to be centered is made By constructing the fork, the centering device is not provided separately according to the specifications of different materials in the transfer process and stacking operation of electronic materials such as the BLU 70 and the tray 80, and there is no additional cost, and a sensor is attached to each operation unit. By reducing the centering tolerance of the material through each operating unit and the sensor to prevent damage to the product and by setting and controlling the amount of torque pressurized in accordance with the increment of the loading stage in the servo motor 20 BLU 70 and the tray ( Lower tray during loading while preventing breakage It is to provide a centering transfer device that can eliminate the accumulated tolerance by centering the 90 and the tray 80 to be stacked.

Looking at the configuration and operation of the present invention,

In the centering device for the automation equipment consisting of the front end of the articulated robot arm, the centering device is the BLU 70 and tray 80 model specification value and the position information and transfer of the first BLU 70 and tray 80, A servo motor 20 for inputting an incremental value based on the position information value to be loaded and the standard value of the tray 80, a clamp unit 40 for crimping and inserting and centering the BLU 70 and the tray 80; The vertical operation unit 50 and the horizontal operation unit 60 are configured, and each side of the BLU 70 and the tray 80 forms a groove, and finally the clamp unit 40 and the horizontal operation unit 60. The lower tray 90 to be inserted and pressed and loaded through the vertical operation unit 50 may be fixed to load the centered BLU 70 and the tray 80 onto the fixed lower tray 90. The guide of the operating unit is configured to clamp the cylinder 100, the first horizontal cylinder 110, the second number Is connected to the front end of the operating rod of the cylinder portion 120, the forward and backward and the vertical operation portion 50 has a vertical tolerance and minimized multiple centering function, characterized in that the vertical cylinder 130 is moved up and down It relates to a transport and insertion stacking device provided.

Figure 1 is a perspective view showing a preferred form of the present invention, Figure 2 is a process diagram showing an embodiment of the center of the BLU due to the crimping and insertion of the clamp portion of the present invention, Figure 3 is a vertical actuating portion of the present invention is pressed and inserted Figure 4 is a process chart showing an example of the embodiment of centering the tray due to, Figure 4 is a process chart showing an example of the embodiment in which the tray centering the vertical actuating portion of the present invention to the BLU, Figure 5 is vertical to the horizontal actuating portion of the present invention 6 is a process diagram showing an exemplary embodiment of the operating unit, Figure 6 is a process diagram showing an embodiment of the vertical operation unit of the present invention fixed to the lower tray stacking with reference to the drawings in detail the configuration and operation of the present invention ,

The clamp portion 40 is composed of a guide 40a which is connected to the operating rod of the clamp cylinder portion 100 and slides by the supply of pneumatic pressure into the clamp cylinder portion 100, and the end portion is inserted into the BLU groove. 40b) is configured to center the BLU 70.

The horizontal operating part 60 is composed of a guide 60a connected to the operating rod of the first horizontal cylinder part 110 and slid by supply of pneumatic pressure into the first horizontal cylinder part 110, and the end part is inserted into the tray groove. It is configured to be transported and stacked while centering the tray 80 is configured in the form of a chuck (60b) to be configured as the outer periphery of the BLU (70).

The vertical operating unit 50 causes the vertical cylinder unit 130 to move the entire vertical operating unit 50 up and down and is connected to the operating rod of the second horizontal cylinder unit 120 so that the second horizontal cylinder unit 120 It consists of a guide (50a) that is slid by the supply of pneumatic pressure and the end is configured in the form of a chuck (50b) to be inserted into the tray groove tray 80 to be transported and the lower tray 90 ) To be centered and fixed.

In the present invention, the BLU 70 and the tray 80 correspond to the chuck to each side so that the chucks of the clamp unit 40, the horizontal operating unit 60, and the vertical operating unit 50 are inserted and transported, respectively. The groove is made up.

In addition, the center of the centering device is moved by the robot arm 10 according to the value input to the servo motor 20 configured on one side of the centering device, the clamp cylinder 100, the first horizontal cylinder 110, the second horizontal The cylinder 120 is configured to control the pneumatic pressure into the vertical cylinder 130.

In addition, the sensor is preferably provided as a guide of the clamp unit 40, the vertical operating unit 50, the horizontal operating unit 60 in order to minimize the damage of the electronic material.

Looking at the embodiment of the transfer and stacking device equipped with a centering function consisting of the above device,

2, 3, 4, 5, and 6, the first step of inputting the MODEL DATA of the BLU 70 and the tray 80 to the servo motor 20, and the first BLU to the servo motor 20 A second step of inputting an increment value based on the position information of the 70 and the tray 80, the position information to be transported, inserted, and loaded, and the height standard value of the tray 80; and at the initial position of the set BLU 70. The third step in which the centering device is moved by the robot arm 10, the lowering of the centering device and the guide 40a are pressed into the BLU 70 side of the clamp 40, and the chuck 40b is inserted into the BLU groove. And the fourth step of clamping the BLU 70, the fifth step of moving the centering device by the robot arm 10 at the initial position of the set tray 80, the lowering and the tray of the vertical operation unit 50 ( 80) the sixth step of pressing the guide 50a to the side and inserting the chuck 50b into the tray groove to clamp the tray 80; The seventh step is inserted into the tray 80, the horizontal operation unit 60 is pressed into the side of the tray 80 into which the BLU 70 is inserted, the guide 60a is pressed and the chuck 60b is inserted into the tray groove. The eighth step of clamping and the vertical operation part 50 to unclamp the tray 80, the ninth step of moving the centering device by the robot arm 10 at the position to be transferred and loaded, and the vertical operation The tenth step of clamping the lower tray 90 by lowering the part 50 and pressing the guide 50a into the side of the lower tray 90 and inserting the chuck 50b into the lower tray groove, and horizontal operation. An eleventh step of loading the BLU 70 and the tray 80 which are mutually centered through the unit 60 and the clamp unit 40 to the upper part of the lower tray 90 fixed by the vertical operation unit 50; Is made of the twelfth step of squeezing and inserting each of the operating parts and the process is repeated by repeating the steps Will.

In detail, the clamping unit 40 is lowered while the centering device is moved to the position of the BLU 70 and the tray 80 to be transferred through the servo motor 20. 40a compresses the outside of the BLU 70 while inserting the clamp chuck 40b into the BLU groove to center the BLU 70, and the vertical actuating part 50 is also lowered to the vertical actuating part guide 50a. Centering is performed by inserting the vertical actuator chuck 50b into the groove while pressing the outside of the tray 80, and the vertical actuator 50 in the state where the BLU 70 and the tray 80 are centered. Due to the rise of the BLU (70) was inserted into the tray 80 was configured to be made in the state of mutual centering is made. At this time, while the BLU 70 and the tray 80 are centered, the horizontal actuator 60 presses the guide 60a on the outside of the tray 80 and inserts the horizontal actuator chuck 60b into the groove to fix the horizontal actuator 60. The vertical actuator 50 is moved to a position to which the centering device is to be transported and stacked while the tray 80 is uncompressed and inserted to fix the lower tray 90 loaded thereon. ) Is lowered and the outside of the lower tray 90, which is previously loaded, is pressed by the vertical actuator guide 50a, and the vertical actuator chuck 50b is inserted into the groove of the lower tray 90 to fix the horizontal tray. The BLU 70 and the tray 80, which are compressed and inserted into the center 60, are stacked in the centered state of the lower tray 90 to be mutually centered so that the accumulated tolerance does not occur even if the stacking operation is continuously performed. .

In addition, as described above, the crimping form of the electronic material of the clamp unit 40, the horizontal operating unit 60, and the vertical operating unit 50 is connected to each operating unit by the tip of the operating rod of each cylinder unit. The guide of each operating part is moved forward and backward according to the forward and backward of the chuck while inserting the chuck into the groove formed in the electronic material while the center is formed in the present invention as the BLU 70 and the tray 80 in the present invention. Although described as a limited, any material of any size and shape can be centered by arbitrarily configuring the groove, so it can correspond to various types of materials.

In addition, the servo motor 20 sets the model specification values of the BLU 70 and the tray 80, sets the position information of the BLU 70 and the tray 80, and provides the position information to be transported and stacked. It is set to the plane coordinates (X, Y), the initial height information is set, and the height is set to the height coordinates (Z) to apply the height and increment of the position to be transported and stacked, the driving is made and the clamp unit 40 The sensor is operated by configuring the sensor in the guide of the horizontal operating part 60 and the vertical operating part 60 when an object of a different standard from the model standard value input to the servo motor 20 contacts each operating part. (20) stops the operation of each operating unit, and when the tray 80 is loaded, the force to contact and press the trays 80 to a position that is less than or beyond the increment value of the model value of the tray 80 to the servo motor If different, the error is processed in the servo motor 20 This work was composed work unit stopped. The servo motor 20 and the sensor set in such a configuration are configured to operate only at the position to make more accurate centering and to minimize the damage of the material.

The present invention relates to a transfer and insertion stacking device having a minimized tolerance and multi-center centering function.

The operation unit is operated through an air cylinder to compress the material, insert it into the groove, and center it to correspond to the specification and shape of the material in the automation process, thereby reducing the installation cost of the centering device used individually according to the material specification. It is possible to reduce the initial equipment cost, which is the biggest disadvantage of the automation equipment, and to minimize the accumulated tolerance because the centering work is performed by fixing the tray 80 and the lower tray 90 to be transported and stacked. The sensor may be configured in each operating unit so that the operating unit contacts the value which is not controlled by the servomotor 20 or the tray 80 contacts the position which is short of the incremental value or exceeds when the tray is loaded. The effect is great in the transfer device of automation equipment, such as minimizing material damage by stopping operation. As will invention.

Claims (5)

In the centering device for automation equipment composed of the front end of the articulated robot arm, The centering device is incremented based on the BLU 70 and tray 80 model specification values, the position information and transfer information of the first BLU 70 and the tray 80, the position information values to be loaded, and the specification values of the tray 80. Servo motor 20 for inputting a value, The clamp cylinder part 100, the first horizontal cylinder part 110, the second horizontal cylinder part 120, the vertical cylinder part 130 which are operated by the pneumatic pressure supplied by the control of the servomotor 20, Transfer and insertion stacking device equipped with a minimizing accumulated tolerance and multi-center centering function, including the clamp portion 40, the vertical actuating portion 50, the horizontal actuating portion 60 is configured to be connected to the tip of the operation rod of the cylinder portion According to claim 1, The clamp portion 40 is composed of a guide 60a which is connected to the operating rod of the clamp cylinder portion 100 and slides by the supply of pneumatic pressure into the clamp cylinder portion 100, and comprises a guide 40a that slides. Is configured in the form of a chuck 40b to be inserted into the BLU groove to center the BLU 70, The horizontal operating part 60 is composed of a guide 60a which is connected to the operating rod of the first horizontal cylinder part 110 and slides by supply of pneumatic pressure into the first horizontal cylinder part 110, and the end part is inserted into the tray groove. It is configured to be transported and stacked while centering the tray 80 is configured in the form of a chuck (60b) so as to be the outer periphery of the BLU (70), The vertical operating unit 50 causes the vertical cylinder unit 130 to move the entire vertical operating unit 50 up and down and is connected to the operating rod of the second horizontal cylinder unit 120 so that the second horizontal cylinder unit 120 It consists of a guide (50a) that is slid by the supply of pneumatic pressure and the end is configured in the form of a chuck (50b) to be inserted into the tray groove tray 80 to be transported and the lower tray 90 Transfer and insertion stacking device equipped with a minimizing tolerance and multi-center centering function, including being configured to be fixed) According to claim 1, Transfer and insertion stacking device equipped with a minimization of accumulated tolerance including the attachment of the sensor to the guide of the clamp unit 40, the vertical operating unit 50, the horizontal operating unit 60 and multiple types of centering functions According to claim 1, The BLU 70 and the tray 80 minimize and accumulate a tolerance including a groove having a shape corresponding to the chuck of the clamp 40, the horizontal actuator 60, and the vertical actuator 50 on each side. Transfer and insertion stacker equipped with model centering function Using the apparatus of claim 1, The first step of inputting the BLU 70 and the MODEL DATA of the tray 80 to the servo motor 20, and the position information, transfer and insertion of the first BLU 70 and the tray 80 to the servo motor 20. A second step of inputting an increment value based on the position information to be loaded and the height standard value of the tray 80, and a third step of moving the centering device by the robot arm 10 to the initial position of the set BLU 70; And a fourth step of clamping the BLU 70 by lowering the centering device and inserting the chuck 40b into the BLU groove while the guide 40a is pressed against the BLU 70 side of the clamp 40. The fifth step in which the centering device is moved by the robot arm 10 at the initial position of the 80, the lowering of the vertical operation unit 50 and the guide 50a is pressed against the tray 80 side and the chuck 50b A sixth step of clamping the tray 80 by inserting it into the tray groove, a seventh step of inserting the BLU 70 into the tray 80 while the vertical operation unit 50 is raised; The guide 60a is squeezed to the side of the tray 80 where the BLU 70 is inserted into the horizontal actuator 60, and the chuck 60b is inserted into the tray groove to clamp the vertical actuator 50. An eighth step of unclamping 80, a ninth step of moving the centering device by the robot arm 10 at a position to be transported and loaded, and a lowered and stacked lower tray of the vertical operation unit 50 ( The guide 50a is squeezed to the side of the 90 and the chuck 50b is inserted into the lower tray groove to clamp the lower tray 90, and through the horizontal operation part 60 and the clamp part 40. An eleventh step of loading the centered BLU 70 and the tray 80 above the lower tray 90 fixed by the vertical operation unit 50; 12 and the cumulative tolerance minimization and multi-type including the process is performed by repeating the above steps Loading method using a transfer and insertion stacking device equipped with a centering function.

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