KR20150072186A - Picker - Google Patents

Abstract

The present invention relates to a picker mounted on a pick-and-place device for transferring an element to absorb the element. The picker comprises: a body having a main through-hole; a rod of which the tip is joined to a pickup head inserted into the main through-hole to be slid to pick up the element using vacuum pressure by hydraulically driving to linearly move back and forth; and a static electricity eliminating part joined to the rod to eliminate static electricity charged in the rod by coming in contact with other members when the rod moves against the body.

Description

Picker {PICKER}

The present invention relates to a picker which is mounted on a pick-and-place apparatus for transferring an element to pick up the element.

Generally, a picker is a mechanism for picking up a device, which is installed in a pick-and-place apparatus that picks up a device and places it at a predetermined seating position to form a suction passage in which vacuum pressure is applied, A rod to which the suction unit is coupled, and an actuator for moving the rod in the vertical direction.

The actuator is configured to operate with pneumatic pressure, consisting of a cylinder providing a space in which the pneumatic pressure acts and a piston slidably moved within the cylinder by pneumatic pressure. The piston and the rod of such an actuator are connected to each other through a link or the like, whereby the rod is moved in the vertical direction by the sliding movement of the piston in the cylinder.

However, the conventional pick-and-place apparatus has disadvantages in that the size of the picker is relatively large because the picker mounted on the pick and place apparatus is independently and separately provided with an actuator including a cylinder and a piston for moving the rod in the vertical direction. Furthermore, there is a disadvantage in that the size of a conventional pick-and-place apparatus in which a large-sized picker is mounted in a plurality of columns and a plurality of rows is also relatively large, and the spacing between a plurality of pickers becomes large, There is a disadvantage in that there is a limit in reducing the interval of the plurality of elements.

On the other hand, the element is picked up by the upward and downward movement of the rod, and the picker to be picked up is miniaturized, and the charged static electricity is damaged by the friction with another member due to the vertical movement of the rod or the pickup is not intended by the electrostatic force There is a problem that a malfunction occurs.

It is an object of the present invention to provide a picker capable of minimizing the size thereof.

Another object of the present invention is to provide a picker for picking up an element, particularly a picker capable of preventing the element from being damaged or unintentional pickup by removing the electrostatic force charged on the rod.

It is another object of the present invention to provide a picker capable of preventing rotation about a longitudinal axis of a reciprocating rod for picking up an element.

Still another object of the present invention is to provide a picker that can prevent leakage of injected lubricant to the outside for smooth movement of the rod.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, A rod which is slidably inserted into the main through hole and linearly reciprocally moved by hydraulic operation, and a pick-up head which picks up the element by vacuum pressure at its end; And a static eliminator coupled to the rod and contacting the other member when the rod is moved relative to the body to remove static electricity charged on the rod.

And a housing coupled to the body and having a receiving space around the rod.

And a rotation preventing portion for preventing the rod from being rotated about its longitudinal axis.

The rotation preventing portion includes: a shaft disposed inside the housing space of the housing and extending along the moving direction of the rod; And a moving block fixed to the rod and slidably connected to the shaft along the moving direction of the rod.

A coupling hole is formed in the housing, a coupling groove is formed in the body, and a coupling means is inserted and fixed in the coupling hole and the coupling groove, so that the housing can be coupled to the body.

Both ends of the shaft may be respectively inserted and fixed into a shaft coupling groove formed in the body and the housing, respectively.

The static eliminator may be fixed to the moving block and may contact at least any one of the body and the housing when the rod is moved to remove the static electricity charged to the rod.

Wherein the static eliminator includes a fixed portion fixed to the moving block, a pair of extended portions extending from the fixed portion toward the shaft and formed to be spaced apart from each other, And a contact portion contacting the body and the housing, respectively, when the rod is moved.

A third through hole through which the rod passes may be formed in the housing, and a third guide member may be provided in the third through hole to close the accommodation space and guide the movement of the rod.

Wherein the static eliminator comprises: a fixed portion fixed to the rod; at least one extending portion extending from the fixed portion in a longitudinal direction and a tilt direction of the rod; and at least one extending portion extending from an end of the extending portion, And may include contact portions that are in contact.

The rod divides a space inside the main through-hole into a first space and a second space, and the fluid can be linearly reciprocated by selectively introducing the fluid into the first space and the second space.

Wherein the rod is provided with a partition for partitioning a space inside the main through hole into a first space and a second space, wherein the body has a first flow path through which the fluid flows into the first space, The second flow path may be formed.

And a first guide member and a second guide member which are respectively formed in through holes through which the rod passes and which are inserted into both openings of the main through hole to seal the first space and the second space.

The first guide member and the second guide member may be formed with a communication hole for communicating the first flow path and the second flow path with the first space and the second space.

Wherein the communication holes are formed in a plurality of directions along the circumferential direction of the first guide member and the second guide member, and a connection groove for connecting the plurality of communication holes to each other is formed on an outer surface of the first guide member and the second guide member, Can be formed.

The inner surface of the through hole of the first guide member and the second guide member may be formed with an inner groove communicating with the communication hole and radially inward.

The inner groove may extend in the circumferential direction of the first guide member and the second guide member.

Sealing members may be provided at both ends of the partition facing the first guide member and the second guide member.

Wherein the body is provided with a first connection member and a second connection member for connecting the first flow path and the second flow path to a fluid supply source, and the first connection member and the second connection member are provided above the body, And can be installed together on one side in the radial direction of the rod.

The picker according to an embodiment of the present invention includes a first space and a second space defined by a partition of a rod in a body and selectively supplying fluid into the first space and the second space The rod can be moved up and down.

That is, in the picker according to the embodiment of the present invention, the through-hole for guiding the movement of the rod in the up-down direction can function together as a cylinder, and the rod partition can also function as a piston.

Therefore, in the picker according to the embodiment of the present invention, since the movement line of the rod and the line on which the pressure for moving the rod are in line are present on the same line, the actuator composed of the cylinder and the piston independently In addition, there is an advantage in that the size of the picker can be minimized as compared with the conventional technique.

Further, in the picker according to the embodiment of the present invention, the through hole for guiding the movement of the rod in the up-down direction can function as a cylinder, and the partition of the rod can function as a piston, And the line on which the pressure for moving the rod is applied are present on the same line.

Therefore, as in the prior art in which a separate actuator is provided, there is an advantage that the moment generated when the movement line of the rod and the line on which the pressure for moving the rod are not coincident with each other can be eliminated.

Further, when the picker according to the embodiment of the present invention is mounted on the pick-and-place apparatus in a plurality of rows and a plurality of rows, since the interval between each picker can be minimized as the size of the picker is minimized, There is an advantage in that the interval between the plurality of elements that can be picked up by a plurality of pickers at a time can be minimized.

Further, since the size of the picker according to the embodiment of the present invention is minimized, there is an advantage that the interference between a plurality of pickers can be minimized.

In addition, the weight of the picker according to the embodiment of the present invention can be minimized as its size is minimized.

Therefore, the size and weight of the pick-and-place apparatus equipped with such a picker can be minimized, thereby minimizing the inertia of the pick-and-place apparatus. Therefore, the pick and place apparatus can be easily controlled.

Further, since the picker according to the embodiment of the present invention includes the rotation preventing portion that prevents the rod from being rotated about its longitudinal axis, the reciprocating movement of the rod can be smoothly performed, There is an advantage that the pick and place operation of the picker can be performed smoothly.

In addition, since the picker according to the embodiment of the present invention includes the housing coupled to the body and having the accommodation space around the rod, the lubricant which is pushed and leaked to the rod can be accommodated in the accommodation space, There is an advantage that it is possible to prevent leakage.

Further, the picker according to the embodiment of the present invention may further include a correction mechanism for removing static electricity charged on the rod, so that the static electricity charged on the rod is removed so that damage to the element by the correction device, There is an advantage that it is possible to prevent the un-pick-up.

1 is a perspective view schematically showing a picker according to an embodiment of the present invention.
Fig. 2 is a cross-sectional perspective view schematically showing the picker of Fig.
3 is a cross-sectional view schematically showing the picker of Fig.
Fig. 4 is a cross-sectional view showing a part of the picker of Fig. 3 enlarged; Fig.
Fig. 5 is a cross-sectional view showing a part of the enlargement of the picker of Fig. 1 enlarged.
Fig. 6 is a perspective view showing the guide member of the picker of Fig. 3; Fig.
Figs. 7 and 8 are sectional views showing the operating states of the picker of Fig.
Fig. 9 is a perspective view showing an example of a grounding member provided on the picker of Fig. 1; Fig.
10 is an enlarged partial cross-sectional view showing the picker of Fig. 1 provided with the grounding member of Fig.

Hereinafter, a picker according to an embodiment of the present invention will be described with reference to the accompanying drawings.

1 to 5, a picker 1 according to an embodiment of the present invention includes a body 10 in which a main through hole 11 is formed, a body 10 in which a main through hole 11 is slidably inserted And a hollow rod 20 to which an adsorption head 90 to which elements are adsorbed at the lower end and a vacuum source is connected to the upper end.

The body 10 constitutes the main body of the picker 1, and the material thereof may be a metal, particularly aluminum or an aluminum alloy.

This picker 1 is installed in a pick-and-place apparatus that transports a device and picks up the picked up element. The rod 20 has a structure in which an adsorption head 90 on which a device is adsorbed is detachably coupled A portion 21 may be provided.

In the rod 20, a suction passage 22 through which air is sucked from the suction head 90 may be formed.

In addition, the rod 20 may be connected to a vacuum source such as a vacuum pump or the like at the upper end thereof.

Meanwhile, the rod 20 is slidably coupled to the main through hole 11 of the body 10 and is linearly driven by various driving methods.

For example, the rod 20 selectively injects fluid into the first space 31 and the second space 32 formed by the outer circumferential surface of the rod 20 in the main through hole 11 of the body 10, So that it can be linearly driven with respect to the body 10.

The rod 20 is provided with a partitioning part 23 for partitioning the space formed inside the body 10 into the first space 31 and the second space 32 by forming the main through hole 11 .

Here, the first space 31 is located downward with respect to the partition 23, and the second space 32 is located above the partition 23.

The outer diameter of the partitioning portion 23 is set to be equal to the inner diameter of the main through hole 11 so that the rod 20 can slide while the outer surface of the partitioning portion 23 is in contact with the inner surface of the main through- .

The compartments 23 of the rods 20 may be integrally formed with the remainder of the rods 20 and may be separately molded and then joined together.

The body 10 is provided with a first flow path 41 serving as a passage through which the fluid flows into the first space 31 and a second flow path 42 serving as a passage through which the fluid flows into the second space 32 .

A first connection member 411 and a second connection member 421 connected to a fluid supply source (not shown) may be connected to the first flow path 41 and the second flow path 42, respectively.

The fluid supplied from the fluid supply source can flow into the first space 31 through the first flow path 41 and into the second space 32 through the second flow path 42. [

The fluid supplied from the fluid supply source may be a gas such as air. In this case, the fluid supply source may include a pressure regulating device (not shown) for regulating the pressure of the fluid flowing into the first space 31 and the second space 32 May be provided.

The first connection member 411 and the second connection member 421 may be connected to a tube connected to the fluid supply source, respectively.

When the direction in which the rod 10 is connected to the suction head 90 is referred to as downward and the direction in which the rod 10 is connected to the vacuum source is referred to as an upward direction, the first connecting member 411 and the second connecting member 421 May be formed above the body 10.

Here, the first linking member 411 and the second linking member 421 may be provided together on one side in the radial direction of the rod 20. [

The first connecting member 411 and the second connecting member 421 may be provided with a first connecting member 411 and a second connecting member 421. In this case, The width of the two parts is small.

When a plurality of pickers 1 are provided in the pick and place apparatus, the second portion can be a portion where the plurality of pickers 1 face each other.

In this way, by reducing the width of the portions where the plurality of pickers 1 face each other, the interval between the plurality of pickers 1 can be minimized.

The supply of the fluid to the first flow path 41 and the supply of the fluid to the second flow path 42 can be performed alternately.

The fluid in the second space 32 can be discharged to the outside through the second flow path 42 while the fluid is supplied to the first space 31 through the first flow path 41, The fluid in the first space 31 may be discharged to the outside through the first flow path 41 in the course of supplying the fluid to the second space 32 through the first flow path 42.

The first flow path 41 and the second flow path 42 are formed so as not to communicate with each other within the body 10. For this purpose, the first flow path 41 and the second flow path 42 are respectively formed in the body 10 integrally formed by drilling, and the holes in which the drill formed in the drilling process is sealed by welding or the like, The first flow path 41 and the second flow path 42 may be formed in the body 10 through the process of sealing each of the first and second flow paths 41 and 42 by the sealing members 412 and 422, respectively.

1 to 5 show a structure in which the first flow path 41 and the second flow path 42 are formed inside the body 10 in a bent shape. However, the present invention is not limited to this, The shape of the first flow path 41 and the second flow path 42 in the interior of the first channel 41 can be formed in an optimized shape that can reduce the width and length of the picker 1.

A first guide member 81 and a second guide member 82 for sealing the first space 31 and the second space 32 from the outside are formed in the openings 12 and 13 of the main through- Can be inserted.

The first guide member 81 and the second guide member 82 may have through holes 811 and 821 through which the rod 20 passes.

The first guide member 81 can be inserted into the opening 12 formed below the rod 20 and the second guide member 82 can be inserted into the opening 13 formed above the rod 20 have.

The first guide member 81 and the second guide member 82 can be tightly inserted into the openings 12 and 13 of the main through hole 11 in a manner of interference fit or in a screwed manner.

Therefore, a clearance through which fluid can pass may not be formed between each of the outer surfaces of the first guide member 81 and the second guide member 82 and the inner surface of the main through hole 11.

The first guide member 81 and the second guide member 82 are inserted into the openings 12 and 13 of the main through hole 11 in a state where the partitioning portion 23 of the rod 20 is inserted into the main opening 11 ).

The first space 31 and the second space 32 can be sealed from the outside by a simple method in which the first guide member 81 and the second guide member 82 are inserted into the openings 12, have.

The material of the first guide member 81 and the second guide member 82 may be metal or engineering plastic.

The inner space of the first guide member 81 may be formed with an inner groove 812 which is formed at a predetermined depth so that the first space 31 may be formed. In order to form the second space 32, An inner groove 822 may be formed on the inner surface of the second guide member 82 to have a predetermined depth.

The first space 31 may be an area surrounded by the inner surface of the first guide member 81, the outer surface of the rod 20 and the lower end of the partition 23, The inner surface of the second guide member 82, the outer surface of the rod 20, and the upper end of the partition 23.

The lower end portion and the upper end portion of the partitioning portion 23 are portions to which the pressure of the fluid introduced into the first space 31 and the second space 32 is applied and the lower end portion of the partitioning portion 23 and the upper end The rod 20 can be moved downward and upward by the pressure acting on the end portion.

Therefore, the partitioning portion 23 substantially acts as a piston, and the main through-hole 11 substantially serves as a cylinder.

Here, when the fluid flows into the first space 31 and thus the fluid is discharged from the second space 32, the volume of the first space 31 is expanded while the rod 20 is moved upward , The volume of the second space 32 is reduced.

Conversely, when the fluid flows into the second space 32 and thus the fluid is discharged from the first space 31, the volume of the second space 32 is expanded while the rod 20 is moved downward, The volume of the first space 31 is reduced.

6, the first guide member 81 and the second guide member 82 are provided with through holes 811 capable of passing through both sides of the rod 20 except for the partitioning portion 23 , 821 are formed.

The inner surfaces of the first guide member 81 and the second guide member 82 are formed with inner grooves 812 and 822 which are inserted into a predetermined depth and opened to one side.

These inner grooves 812 and 822 are formed between the inner surface of the first guide member 81 and the outer surface of the rod 20 and between the inner surface of the second guide member 82 and the outer surface of the rod 20, The first space 31 and the second space 32 may be formed.

The inner grooves 812 and 822 are formed by the first guide member 81 and the second guide member 82 so that the first space 31 and the second space 31 can be formed to extend in the circumferential direction of the rod 20, And may extend in the circumferential direction on the inner surface of the second guide member 82.

Since the first space 31 and the second space 32 are formed to extend in the circumferential direction of the rod 20 as described above, uniform pressure can be applied to the partition 23 of the rod 20 have.

The first guide member 81 may be provided with a communication hole 813 for communicating the first flow path 41 and the first space 31.

The communication hole 813 can be connected to the inner groove 812. The fluid supplied through the first flow path 41 can be introduced into the first space 31 through the communication hole 813 and the fluid in the first space 31 flows into the communication hole 813 and the first flow path 41, as shown in FIG.

The communication holes 813 may be formed in plural along the circumferential direction of the first guide member 81. In this case, the plurality of communication holes 813 may be connected to the first channel 41, A connection groove 814 for communicating a plurality of communication holes 813 may be formed around the outer surface of the member 81.

However, the present invention is not limited to this configuration, and a configuration in which the plurality of first flow paths 41 are connected to the plurality of communication holes 813 may be used without forming the connection groove 814.

Likewise, the second guide member 82 may be provided with a communication hole 823 for communicating the second flow path 42 and the second space 32.

The communication hole 823 may be connected to the inner groove 822. The fluid supplied through the second flow path 42 can be introduced into the second space 32 through the communication hole 823 and the fluid inside the second space 32 can flow into the communication hole 823 and the second flow path 42 to the outside.

The communication holes 823 may be formed in plural along the circumferential direction of the second guide member 82. In this case, the communication holes 823 may be formed in the second guide member 82, A connection groove 824 for communicating the plurality of communication holes 823 may be formed around the outer surface of the member 82.

However, the present invention is not limited to this configuration, and a configuration may be used in which a plurality of second flow paths 42 are connected to a plurality of communication holes 823 without forming the connection grooves 824.

When a plurality of communication holes 813 and 823 are formed in the first guide member 81 and the second guide member 82 as described above, the fluid flows into the first space 31 and the second space 32, So that the pressure applied to the partition 23 of the rod 20 becomes uniform so that the rod 20 is eccentrically moved in the upward and downward movement of the rod 20 Can be prevented.

The inner diameters of the through holes 811 and 821 of the first guide member 81 and the second guide member 82 may be smaller than the outer diameter of the partition 23 of the rod 20.

7, when the fluid flows into the second space 32 and the rod 20 is moved downward, the lower end of the partition 23 is pressed against the first guide member 81 A sealing between the outer surface of the partition 23 and the inner surface of the main through hole 11 can be made.

The fluid introduced into the second space 32 flows into the first space 31 through the gap between the outer surface of the partition 23 and the inner surface of the main through hole 11, So that it is possible to prevent the fluid from being unnecessarily consumed.

8, when the fluid flows into the first space 31 and the rod 20 is moved upward, the upper end of the partition 23 is pressed against the second guide member 82 A sealing between the outer surface of the partition 23 and the inner surface of the main through hole 11 can be made.

The fluid introduced into the first space 31 flows into the second space 32 through the gap between the outer surface of the partition 23 and the inner surface of the main through hole 11, So that it is possible to prevent the fluid from being unnecessarily consumed.

At this time, both end portions of the partitioning portion 23 facing the first guide member 81 and the second guide member 82, that is, the partitioning portion 23, It is preferable that sealing members 61 and 62 are provided at the lower end portion and the upper end portion which are portions that contact the first guide member 81 and the second guide member 82. [

The sealing members 61 and 62 are formed to have a predetermined elasticity such as rubber or synthetic resin so as to buffer the impact generated when the partition 23 comes in contact with the first guide member 81 and the second guide member 82 It is preferable that the branch is made of a material.

Further, the sealing members 61 and 62 may be made of metal or engineering plastic. When the sealing members 61 and 62 are provided, the rod 20 can slide while the sealing members 61 and 62 are in contact with the inner surface of the main through-hole 11.

When the first guide member 81 and the second guide member 82 are provided, the first guide member 81 and the second guide member 82 are inserted into the openings 12, 13 The first space 31 and the second space 32 can be formed by inserting the first space 31 and the second space 32 into the first space 41 and the second space 32, (42).

Therefore, it is not necessary to separately process the inner surface of the main through hole 11 and / or the outer surface of the rod 20 in order to form the first space 31 and the second space 32, .

The vertical movement of the rod 20 is guided by the through holes 811 and 821 of the first guide member 81 and the second guide member 82 so that the reciprocal movement of the rod 20 is stable Lt; / RTI >

The picker 1 according to the present invention includes a housing 20 which is coupled to the body 10 at one side to which the rod 20 is connected to the suction head 90 and forms a predetermined accommodation space 511 around the rod 20, (51). ≪ / RTI >

The housing 51 can be utilized to form a part of the anti-rotation portion described later by forming a predetermined accommodation space 511 around the rod 20, It is possible to prevent the oil present on the outer circumferential surface from falling down to the adsorption head 90.

Meanwhile, the picker 1 according to the present invention may include a rotation preventing portion 50 for preventing the rod 20 from being rotated about its longitudinal axis.

The rotation preventing portion 50 may have various configurations as a configuration for preventing the rod 20 from being rotated about its longitudinal axis.

The rotation preventing portion 50 includes a shaft 52 disposed inside the housing space 511 of the housing 51 and extending along the moving direction of the rod 20 and a shaft 52 fixed to the rod 20 And a moving block 53 slidably connected to the shaft 52 along the moving direction of the rod 20.

The rotation preventing portion 50 is provided on the lower side of the picker 1. Since a plurality of parts connected to a fluid supply source (not shown) such as the first linking member 411 and the second linking member 421 are provided on the upper side of the picker 1, (1), the structure of the picker (1) can be made uncomplicated.

At this time, the housing 51 is formed with a fastening hole 514 at a position corresponding to the fastening groove 14 formed in the body 10 so that fastening means (not shown) The housing 51 and the body 10 can be coupled to each other by being inserted and fixed in the engaging groove 14. Since the fastening holes 514 are formed in the housing 51, the weight of the housing 51 can be reduced, thereby reducing the overall weight of the picker 1.

The shaft 52 is formed in a shape extending along the moving direction of the rod 20 to guide the movement of the rod 20. Both ends of the shaft 52 can be respectively inserted and fixed in the shaft engaging grooves 15 and 515 formed in the body 10 and the housing 51, respectively.

One end 532 of the moving block 53 is slidably connected to the shaft 52 along the longitudinal direction of the shaft 52 and the other end thereof is fixed to the outer circumferential surface of the rod 20. A fastening member 533, such as a screw, may be used to secure the moving block 53 to the rod 20.

Particularly, the moving block 53 may have various shapes such as a cylinder, a square column, and the like.

The movable block 53 fixed to the rod 20 is slid with respect to the shaft 52 so that the longitudinal movement of the rod 20 And is performed stably.

It is also possible to prevent the phenomenon that the rod 20 is rotated about its longitudinal center axis by the shaft 52 and the moving block 53, that is, the rolling phenomenon of the rod 20 can be prevented.

In addition, the rod 52 can be prevented from moving in the direction perpendicular to the longitudinal axis thereof by the moving block 53 and the shaft 52.

A third through hole 57 through which the rod 20 passes is formed in the housing 51. The third through hole 57 is formed in the housing 51 to seal the accommodation space 511 inside the housing 51 from the outside, And a third guide member 58 for guiding the movement of the guide member 20.

5, a part of the housing 51 constituting the third through hole 57 in which the third guide member 58 is installed may be a protrusion 571 toward the accommodation space 511 have. The airtightness of the housing 51 can be improved by the projections 571 and the lubricant leaking on the rod 20 can be prevented from leaking through the third through hole 57. [

In order to smoothly reciprocate the rod 20, a predetermined amount of lubricant may be injected into the main through-hole 11. These lubricants can be oil or grease.

When the lubricant is injected into the main through hole 11, the lubricant can be discharged through the through hole 811 of the first guide member 81 while being pressed by reciprocating movement of the rod 20.

If there is no accommodation space 511 in the housing 51, the lubricant may be discharged to the outside through the through hole 811 of the first guide member 81, The lubricant discharged through the through hole 811 of the first guide member 81 is introduced into the accommodating space 511 in the housing 51. In the case where the housing 51 has the accommodating space 511 formed therein, ). ≪ / RTI >

At this time, since there is no means for pressurizing the lubricant in the accommodation space 511 in the housing 51, the lubricant contained in the accommodation space 511 in the housing 51 is not discharged to the outside.

The accommodating space 511 in the housing 51 does not only serve to provide a space in which the moving block 53 can be moved but also allows the lubricant injected into the main through- Thereby preventing the dust from being discharged to the outside.

A sealing member 59 is installed on one side of the through hole 811 facing the housing 51 so that the lubricant in the main through hole 11 can be minimized from flowing out into the housing space 511 of the housing 51 .

The first stopper 71 and the second stopper 72 may be provided below and above the rod 20 with the body 10 therebetween.

The first stopper 71 and the second stopper 72 may be integrally formed with the rod 20 and may be separately formed and coupled to the rod 20.

The first stopper 71 and the second stopper 72 may have a size capable of being in contact with the third guide member 58 and the second guide member 82, respectively.

The upward movement of the rod 20 can be restricted by the contact of the first stopper 71 with the third guide member 58 and the movement of the second stopper 72 against the second guide member 82 The movement of the rod 20 downward can be restricted.

The first stopper 71 and the second stopper 72 are elastically deformed by a predetermined elasticity such as rubber or synthetic resin so as to cushion an impact generated when the third stopper 71 and the second stopper 72 come in contact with the third guide member 58 and the second guide member 82 It is preferable that the branch is made of a material.

The first stopper 71 and the second stopper 72 may be made of metal or engineering plastic. The first stopper 71 and the second stopper 72 seal the first space 31 or the second space 32 while contacting the third guide member 58 and the second guide member 82 The first space 31 or the second space 32 can be prevented from leaking to the outside.

The picker 1 according to the embodiment of the present invention configured as described above performs an operation of picking up and transporting the element by the movement of the rod 20 in the vertical direction and the operation of the vacuum source.

For example, when the rod 20 moves downward and a vacuum source is activated to apply vacuum pressure to the suction passage 22, the element can be adsorbed to the adsorption head 90, 20 is moved upward, the picker 1 can be moved to the seating position of the element, the rod 20 is moved downward at the seating position of the element, the operation of the vacuum source is stopped, The device can be seated in the seating position.

Thus, the rod 20 is reciprocally moved in the vertical direction, and the pick-and-place operation of the element is performed. The fluid in the first space 31 flows into the second space 32 through the second flow path 42 for the downward movement of the rod 20, .

Accordingly, downward pressure acts on the upper end of the partition 23 of the rod 20, and the rod 20 can be moved downward by the pressure.

The movement of the rod 20 downward causes the element to be attracted to the adsorption head 90 while the adsorption head 90 is brought into contact with the element. When the adsorption head 90 contacts the element, And the element may be subjected to a collision force. The impact force is transmitted to the fluid introduced into the second space 32 through the rod 20 and the partition 23, and then absorbed by the fluid introduced into the second space 32.

Therefore, the fluid introduced into the second space 32 functions as a so-called air cushion by buffering the impact force generated when the adsorption head 90 and the element are in contact with each other.

Therefore, even when the buffer spring for buffering the above-mentioned collision force is not separately provided, the picker 1 according to the embodiment of the present invention can prevent the collision between the adsorption head 90 and the element, It is possible to prevent damage of the adsorption head 90 or element that may occur.

When the pressure regulating device for regulating the pressure of the fluid flowing into the second space 32 through the second flow path 42 is provided, the pressure regulating device is arranged such that when the adsorption head 90 is in contact with the device And to regulate the pressure of the fluid to the second space 32 through the second flow path 42.

The pressure of the fluid flowing into the second space 32 when the adsorption head 90 contacts the element is smaller than the pressure of the fluid initially flowing into the second space 32 to move the rod 20 downward .

Therefore, the impact force between the adsorption head 90 and the element can be buffered by adjusting the pressure of the fluid flowing into the second space 32 according to the characteristics of the element adsorbed on the adsorption head 90, It is possible to optimize the moving speed of the rod 20 while preventing the element from being damaged during the process of contacting the head 90 with the element.

7, when the downward movement of the rod 20 is completed, the lower end of the partition 23 is brought into contact with the first guide member 81, Since the inflow fluid is prevented from flowing into the first space 31 through the gap between the outer surface of the partition 23 and the inner surface of the main through hole 11, The space 31 and the first flow path 41 can be prevented from being unnecessarily discharged to the outside.

The fluid in the second space 32 is supplied to the first space 31 through the first flow path 41 for the upward movement of the rod 20, To the outside. Accordingly, upward pressure acts on the lower end portion of the partition portion 23 of the rod 20, and the rod 20 can be moved upward by this pressure.

8, when the upward movement of the rod 20 is completed, as the upper end of the partitioning portion 23 contacts the second guide member 82, the first space 31 The fluid introduced into the first space 31 is prevented from flowing into the second space 32 through the gap between the outer surface of the partition 23 and the inner surface of the main through hole 11, It is possible to prevent unnecessary discharge to the outside through the second space 32 and the second flow path 42.

The picker 1 according to the embodiment of the present invention configured as described above has a first space 31 and a second space 32 between the main through hole 11 of the body 10 and the rod 20 And the rod 20 can be moved up and down by selectively supplying fluid into the first space 31 and the second space 32.

That is, in the picker 1 according to the embodiment of the present invention, the main through hole 11 for guiding the movement of the rod 20 in the up-down direction can function as a cylinder, As shown in Fig.

Therefore, the picker 1 according to the embodiment of the present invention has the movement line of the rod 20 and the line on which the pressure acts for moving the rod 20 are on the same line, There is an advantage that the size of the picker 1 can be minimized as compared with the prior art in which actuators composed of a cylinder and a piston are independently provided.

When the picker 1 according to the embodiment of the present invention is mounted on the pick and place apparatus in a plurality of rows and a plurality of rows, the spacing between the pickers 1 is minimized as the size of the picker 1 is minimized There is an advantage in that the size of the pick and place apparatus can be minimized and there is an advantage that the interval between the plurality of elements which can be picked up by the plurality of pickers 1 at the same time can be minimized.

The picker 1 according to the embodiment of the present invention is provided with the rotation preventing portion 50 for preventing the rod 20 from rotating about its longitudinal axis so that the reciprocation of the rod 20 is smooth And the pick-and-place operation of the picker 1 using the reciprocating movement of the rod 50 can be smoothly performed.

In the picker 1 according to the embodiment of the present invention, the receiving space 511 is formed in the housing 51 provided in the rotation preventing portion 50 so that the lubricant It is possible to prevent the lubricant from leaking to the outside of the picker 1.

On the other hand, as the rod 20 slides along the main through hole 11 of the body 20, static electricity is generated and accumulated due to frictional force. The electrostatic charge is accumulated through the pickup head 90 coupled to the accumulated electrostatic device rod 20, There is a problem that a malfunction may be caused due to damage to a device or absorption of an unintentional element or adsorption of foreign matter by an electrostatic force.

The picker 1 according to the present invention is a static electricity generator which is coupled to the rod 20 and which contacts the other member when the rod 20 is moved relative to the body 10 to remove the static electricity charged on the rod 20 It is preferable to further include rejection 200.

Here, the other member may be at least one of the body 20 and the housing 51 as a structure for removing static electricity charged to the rod 20 by contact with the static eliminator 200.

For example, the static electricity of the rod 20 has a ground structure connected to at least one of the electrostatic precipitator 200, the body 20 and the housing 51, the body 20 and the housing 51 . ≪ / RTI >

At least one of the static eliminator 200, the body 20, and the housing 51 is preferably made of a material having high electrical conductivity so as to facilitate the removal of static electricity.

The static eliminator 200 is configured to be coupled to the rod 20 and to remove static electricity charged to the rod 20 by contact with another member when the rod 20 is moved relative to the body 10, It is possible.

The static eliminator 200 includes a fixed portion 221 fixed to the rod 20 and at least one extending portion 233 extending from the fixed portion 221 in the longitudinal direction and tilt of the rod 20 And a contact portion 231 extending to the end of the extension portion 233 and contacting the other member when the rod 20 is moved.

The fixing portion 221 may have various structures depending on the coupling structure with the rod 20 as a portion fixed to the rod 20.

9 and 10, the fixing part 221 has a U-shape so that the end of the moving block 53 fixedly coupled to the rod 20 described above is fitted, And a through hole 222 is formed so that the through hole 222 can be penetrated.

The extended portion 233 extends from the rod 20 and is connected to a ground terminal provided on the outside by contact with other members such as the body 10 to remove static electricity.

In particular, the extended portion 233 preferably extends in the longitudinal direction of the rod 20 so as to be in contact with other members when the rod 20 is moved.

As an example, the extending portion 233 may be formed as a pair extending from the fixed portion 221 toward the shaft 52 and spaced apart from each other, as shown in Figs. 9 and 10.

On the other hand, the extending portion 233 is preferably formed integrally with the fixing portion 221 and is formed to be elastically deformable so that contact with other members can be smoothly performed.

The contact portion 231 can be variously configured as a portion extending to the end of the extending portion 233 and contacting the other member when the rod 20 is moved.

Particularly, it is more preferable that the contact portion 231 is formed so as to form a plane parallel to the surface to be contacted, which is more advantageous when more contact is made in contact with the other member.

9 and 10, the contact portion 231 is extended to the ends of the pair of extension portions 233 to move the body 20 and the housing 51 The inner surface of the body 20 and the inner surface of the housing 51 are in contact with each other.

At least one of the contact portion 231 and the extending portion 233 may be formed with an opening or a cut-out groove 232 to prevent interference with other members such as the shaft 52 when moving.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

10: Body 11: Through-hole
20: load 23:
31: first space 32: second space
41: first flow path 42: second flow path
50: rotation preventing portion 51: housing
52: shaft 53: moving block
81: first guide member 82: second guide member
71: first stopper 72: second stopper

Claims (19)

A body having a main through hole formed therein;
A rod which is slidably inserted into the main through hole and linearly reciprocally moved by hydraulic operation, and a pick-up head which picks up the element by vacuum pressure at its end;
And a static eliminator coupled to the rod and contacting the other member when the rod is moved relative to the body to remove static electricity charged on the rod. The method according to claim 1,
≪ / RTI > further comprising a housing coupled to the body and having a receiving space around the rod. The method of claim 2,
And a rotation preventing portion for preventing the rod from being rotated about its longitudinal axis. The method of claim 3,
The rotation-
A shaft disposed within the housing space of the housing and extending along the direction of travel of the rod; And
And a moving block fixed to the rod and slidably connected to the shaft along the moving direction of the rod. The method of claim 4,
Wherein a coupling hole is formed in the housing, a coupling groove is formed in the coupling body, and the housing is coupled to the body by inserting and fixing the coupling member into the coupling hole and the coupling groove. The method of claim 5,
And both ends of the shaft are inserted and fixed into shaft coupling grooves respectively formed in the body and the housing. The method of claim 4,
Wherein the static eliminator is fixed to the moving block and contacts the at least one of the body and the housing when the rod is moved to remove the static electricity charged on the rod. The method of claim 7,
The electrostatic eliminator may include:
A pair of extending portions extending from the fixed portion toward the shaft and formed to be spaced apart from each other, and a pair of extending portions extending from ends of the pair of extending portions, And a contact portion contacting the housing and the body. The method of claim 3,
Wherein a third through hole through which the rod passes is formed in the housing, and a third guide member for sealing the accommodating space and guiding the movement of the rod is provided in the third through hole. The method according to claim 1,
The electrostatic eliminator may include:
At least one elongated portion extending from the fixed portion in a longitudinal direction and a slope from the fixed portion and a contact portion extending from an end of the extended portion and contacting the other member when the rod is moved, Characterized in that the picker comprises: The method according to any one of claims 1 to 10,
Wherein the rod divides the space inside the main through hole into a first space and a second space and linearly reciprocates by selectively introducing the fluid into the first space and the second space. . The method of claim 11,
Wherein the rod is provided with a partitioning portion for partitioning a space inside the main through-hole into a first space and a second space,
Wherein the body is formed with a first flow path through which fluid flows into the first space and a second flow path through which fluid flows into the second space. The method of claim 12,
A first guide member and a second guide member which are respectively formed with through holes through which the rod passes and which are inserted into both openings of the main through hole to seal the first space and the second space, . 14. The method of claim 13,
Wherein the first guide member and the second guide member are formed with communication holes communicating the first flow path and the second flow path with the first space and the second space. 15. The method of claim 14,
Wherein the communication holes are formed in plural along the circumferential direction of the first guide member and the second guide member,
And a coupling groove for connecting the plurality of communication holes to each other is formed on an outer surface of the first guide member and the second guide member. 15. The method of claim 14,
Wherein the inner surface of the through hole of the first guide member and the second guide member is formed with an inner groove communicating with the communication hole and radially inward. 18. The method of claim 16,
And the inner groove extends in the circumferential direction of the first guide member and the second guide member. 14. The method of claim 13,
And a sealing member is provided at both side ends of the partition facing the first guide member and the second guide member. The method of claim 12,
Wherein the body is provided with a first connecting member and a second connecting member for connecting the first flow path and the second flow path to a fluid supply source,
Wherein the first connecting member and the second connecting member are installed together on one side in the radial direction of the rod from above the body.

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