WO2022039337A1 - Picker device having automatically adjustable pitch - Google Patents

Picker device having automatically adjustable pitch Download PDF

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Publication number
WO2022039337A1
WO2022039337A1 PCT/KR2021/000386 KR2021000386W WO2022039337A1 WO 2022039337 A1 WO2022039337 A1 WO 2022039337A1 KR 2021000386 W KR2021000386 W KR 2021000386W WO 2022039337 A1 WO2022039337 A1 WO 2022039337A1
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WO
WIPO (PCT)
Prior art keywords
picker
elevating
pitch
coupled
lifting
Prior art date
Application number
PCT/KR2021/000386
Other languages
French (fr)
Korean (ko)
Inventor
양해춘
신승암
Original Assignee
㈜토니텍
쑤저우 토니텍 세미컨덕터 씨오., 엘티디.
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Application filed by ㈜토니텍, 쑤저우 토니텍 세미컨덕터 씨오., 엘티디. filed Critical ㈜토니텍
Publication of WO2022039337A1 publication Critical patent/WO2022039337A1/en

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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67721—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations the substrates to be conveyed not being semiconductor wafers or large planar substrates, e.g. chips, lead frames
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/28—Testing of electronic circuits, e.g. by signal tracer
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/28—Testing of electronic circuits, e.g. by signal tracer
    • G01R31/2851—Testing of integrated circuits [IC]
    • G01R31/2855—Environmental, reliability or burn-in testing
    • G01R31/286—External aspects, e.g. related to chambers, contacting devices or handlers
    • G01R31/2865—Holding devices, e.g. chucks; Handlers or transport devices
    • G01R31/2867—Handlers or transport devices, e.g. loaders, carriers, trays
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/28—Testing of electronic circuits, e.g. by signal tracer
    • G01R31/2851—Testing of integrated circuits [IC]
    • G01R31/2893—Handling, conveying or loading, e.g. belts, boats, vacuum fingers
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67706—Mechanical details, e.g. roller, belt

Definitions

  • the present invention relates to a picker device capable of automatic pitch adjustment.
  • a pitch adjusting device having a two-point support structure is configured at the rear of the picker frame, and means for preventing backlash are provided at the upper and lower portions of the picker frame, respectively, so that shaking or inclination occurs when the pitch of the picker is adjusted.
  • It relates to a picker device capable of automatic pitch control that can provide semi-permanent durability by allowing the pitch to be adjusted by a link operation method as well as accurate pitch control by not doing so.
  • the pickers such as the cam plate method, the link method, and the cylindrical cam method can automatically adjust the pitch of the picker.
  • a gap adjusting device is configured, and the picker is configured to adjust the pitch while moving in a form supported by the moving block.
  • An object of the present invention is to provide a picker device capable of automatic pitch control capable of precisely controlling the movement amount of the picker.
  • the present invention provides a picker device capable of automatic pitch adjustment capable of accurate pitch adjustment by configuring means for preventing backlash in the upper and lower portions of the picker frame, respectively, so that shaking or inclination does not occur when the pitch of the picker is adjusted.
  • a picker device capable of automatic pitch adjustment capable of accurate pitch adjustment by configuring means for preventing backlash in the upper and lower portions of the picker frame, respectively, so that shaking or inclination does not occur when the pitch of the picker is adjusted.
  • Another object of the present invention is to provide a picker device capable of automatic pitch adjustment that can provide semi-permanent durability by allowing pitch adjustment in a link operation method.
  • a plurality of picker frames configured with operation guides respectively formed on the rear upper and lower sides, a pitch guide shaft passing through the plurality of picker frames, and the plurality of a picker assembly including springs respectively configured on upper and lower portions of the picker frame; a picker elevating device coupled to a rear portion of the picker assembly to elevate the entire picker assembly; and a plurality of adjustment links rotatably coupled to the operation guide to adjust the pitch of the plurality of picker frames, and a plurality of adjustment links rotatably coupled to the lower portions of the plurality of adjustment links, and the adjustment links during the lifting operation and a pitch adjusting device including a pitch adjusting member composed of a plurality of elevating link members for rotating the .
  • the plurality of picker frames is characterized in that it consists of first to eighth picker frames.
  • the spring includes a first spring connecting the first and fifth picker frames, respectively, a second spring connecting the second and sixth picker frames, respectively, and the third and a third spring connecting the seventh picker frame, respectively, and a fourth spring connecting the fourth and eighth picker frames, respectively.
  • a pitch support frame to which both ends of the pitch guide shaft are coupled, the pitch support frame is coupled, and the picker lifting device is coupled to the upper rear side, and the pitch adjusting device It is characterized in that the base frame for supporting the lifting operation of the further configured.
  • the picker lifting device may include: a connection frame coupled to the base frame; a first servo motor providing the predetermined rotational force; a first elevating block receiving the rotational force of the first servo motor and converting it into a linear motion; an elevating support block coupled to the connecting frame and connected to the first elevating block to elevate the connecting frame when the first elevating block is operated; and a first power transmitting member that transmits the rotational force of the first servo motor to the first lifting block side.
  • the pitch adjusting device includes: a second servo motor providing a predetermined rotational force; a second power transmission member connected to the second servo motor to transmit the rotational force; a second lifting block connected to the second power transmission member and converting the rotational force into linear motion; an elevating guide panel coupled to the second elevating block and performing elevating operation when the second elevating block is driven; and a lifting plate coupled to the lifting guide panel and having a coupling shaft connected to the pitch adjusting member toward the lower center.
  • the pitch adjusting member may include: an adjusting link comprising first and second adjusting links crossing each other; Rotating means rotatably coupled to the first and second control links, both of which are coupled to an operation guide to support rotation and elevating operations of the first and second control links; an elevating link member having an upper end and a lower end rotatably coupled to the lower portions of the first and second adjusting links, respectively, and comprising first and second elevating link members rotatably coupled to the coupling shaft; and a rotation support member for supporting rotational coupling of the elevating link member and the adjustment link.
  • FIG. 1 is a perspective view showing a picker device capable of automatic pitch adjustment according to an embodiment of the present invention
  • FIG. 2 is a bottom perspective view showing a picker device capable of automatic pitch adjustment according to an embodiment of the present invention
  • FIG. 3 is a front view showing a picker device capable of automatic pitch adjustment according to an embodiment of the present invention
  • FIG. 4 is a plan view showing a picker device capable of automatic pitch adjustment according to an embodiment of the present invention.
  • FIG. 5 and 6 are views showing a rear portion of a picker device capable of automatic pitch adjustment according to an embodiment of the present invention
  • FIG. 7 to 10 are views showing a pitch adjusting device of a picker device capable of automatic pitch adjustment according to an embodiment of the present invention.
  • a picker assembly comprising: a plurality of picker frames configured with operation guides respectively formed on upper and lower rear sides; a pitch guide shaft passing through the plurality of picker frames; and springs respectively configured on upper and lower portions of the plurality of picker frames ; a picker elevating device coupled to a rear portion of the picker assembly to elevate the entire picker assembly; and a plurality of adjustment links rotatably coupled to the operation guide part so as to adjust the pitch of the plurality of picker frames, and a plurality of adjustment links rotatably coupled to the lower portions of the plurality of adjustment links, and the adjustment links during the lifting operation and a pitch adjusting device including a pitch adjusting member composed of a plurality of elevating link members for rotating the .
  • the picker device capable of automatic pitch adjustment of the present invention includes a picker assembly 100 that raises and lowers so as to grip a semiconductor package, and an upper portion of the rear side of the picker assembly, and the picker assembly 100 It is configured in the rear part of the picker elevating device 200 and the picker assembly 100 for elevating the whole, and includes a pitch adjusting device 300 for adjusting the pitch interval of the pickers 130 by link operation.
  • the picker assembly 100 is coupled to the pitch adjusting device 300, and a plurality of picker frames 110 in which the picker 130 is configured to grip the semiconductor package at the lower end thereof, and the picker frame 110, An elevating shaft 120 supporting the picking operation of the picker 130, and a picker 130 for gripping the semiconductor package at the lower end are mounted, and a predetermined vacuum pressure is provided so that the picking operation of the picker 130 is performed.
  • a control sleeve 140 to, a pitch guide shaft 150 guiding movement in the lateral direction between the plurality of picker frames 110 and a spring preventing backlash occurring during pitch adjustment of the plurality of picker frames 110 . is made up of 160
  • the picker frame 110 includes a picker frame 112 that is mounted so that the picker 130 is coupled to the lower end to enable an elevating operation, and the control sleeve 140 is connected to the picker 130 at the upper end, and the picker frame ( It is configured on the upper part of the 112 and is configured to include a support bracket 114 for supporting the operation of the elevating shaft 120 .
  • the picker frame 110 is composed of a plurality in the lateral direction of the picker device, and in the present invention, there are a total of eight picker frames 110a, 110b, 110c, 110d, 110e, 110f, 110g, 110h. configured to be done.
  • the picker frame 110 is equipped with a spring 160 at the upper end and lower end thereof to reduce backlash generated during pitch adjustment to prevent shaking of the picker 130 .
  • the spring 160 is a first spring 160a connecting upper and lower ends of the first picker frame 110a and the fifth picker frame 110e among the first to eighth picker frames 110a to 110h, respectively. and a second spring 160b connecting the second and sixth picker frames 110b and 110f, respectively, and a third spring 160c connecting the third and seventh picker frames 110c and 110g, respectively; and a fourth spring 160d connecting the fourth and eighth picker frames 110d and 110h, respectively.
  • the picker frame 110 is configured on the rear upper and lower sides, respectively, and the upper and lower ends of the adjusting link 394 among the pitch adjusting members 390 to be described later are respectively connected, and when the adjusting link 394 is operated, the An operation guide 116 that supports the lowering operation and supports the pitch adjustment by moving the picker frame 110 in the lateral direction by a certain distance in response to the rising or falling operation amount of the adjusting link 394 at the same time. is composed
  • the lower end of the elevating shaft 120 is connected to the control sleeve 140 and is connected to a driving means including a driving cam and a driving motor to support the elevating operation of the control sleeve 140 .
  • the control sleeve 140 is equipped with a picker 130 for gripping the semiconductor package at the lower end at the upper end, and raises and lowers the picker 130 according to whether the elevating shaft 120 is driven, and provides a predetermined vacuum pressure. It is a component to which a vacuum pressure hose is connected so that the picking operation of the picker 130 is made.
  • the pitch guide shaft 150 passes through the plurality of picker frames 110 including the first to eighth picker frames 110a to 110h, and when the pitch adjusting device 300 is driven, the plurality of picker frames 110 are lateral to each other. It supports directional movement, and serves to prevent shaking or inclination that occurs during movement.
  • the pitch guide shaft 150 is configured to pass through the upper and lower portions of the plurality of picker frames 110, respectively, and is preferably configured to form a pair on the upper and lower portions of the plurality of picker frames 110, respectively.
  • the picker assembly 100 of the present invention it is located at the rear of the picker frame 110 , and the picker assembly 100 is independently coupled to the picker lifting device 200 and the pitch adjusting device 300 , respectively.
  • the base frame 102 and the base frame 102 are coupled to both ends of the front side, the pitch support frame 104 to which the end of the pitch guide shaft 150 is coupled is further configured.
  • the base frame 102 is equipped with a second elevating rail 370 of a pitch adjusting device 300 to be described later, and elevating the second elevating guide 380 moving along the second elevating rail 370 .
  • An elevation guide groove 102a for guiding the operation is further configured.
  • the base frame 102 is configured such that the connection frame 202 of the picker lifting device 200 is fixedly coupled to the upper rear side, so that the picker assembly 100 can be lifted or lowered according to whether the picker lifting device 200 is driven or not. is composed
  • the picker lifting device 200 includes a first servo motor 210 that provides a predetermined rotational force for lifting and lowering of the picker assembly 100 and a base frame 102 by receiving the rotational force of the first servomotor 210 to raise and lower the base frame 102 .
  • the first elevating block 230 coupled to the connecting frame 202, and the first elevating block using the rotational force of the elevating support block 240 and the first servo motor 210 connected to the first elevating block 232 are applied to the first elevating block.
  • (230) is configured to include a first power transmission member 220 for transmitting to the side.
  • the first power transmission member 220 may be configured of a conventional chain and power transmission means such as a sprocket, a belt, and a gear.
  • the first lifting block 230 when the first lifting block 230 is coupled to the first lifting shaft 232 connected to the first power transmitting member 220 , and rotational force is transmitted from the first power transmitting member 220 , the first lifting and lowering block 230 .
  • the shaft 232 is a component that supports the lifting and lowering by rotational operation.
  • the inner surface of the first elevating block 230 and the outer circumferential surface of the first elevating shaft 232 are configured to correspond to each other, and a spiral groove is formed to be coupled by a screw coupling method to form the inner surface of the first elevating block 232 . It may be configured such that the lifting operation is made along the , but is not limited thereto.
  • the first lifting block 230 may be coupled to a rear sealing cover (not shown) that seals the rear portion of the picker device, but is not limited thereto.
  • the first lifting block 232 is configured to be spaced apart from the upper portion by a predetermined interval, and is fixedly coupled to the rear portion of the connection frame 202 , while supporting the rotational operation of the first lifting shaft 232 , the first During the lifting operation of the lifting shaft 232 , the connecting frame 202 and the elevating support block 240 for elevating the base frame 102 coupled to the connecting frame 202 are configured.
  • connection frame 202 is coupled to a first lifting guide 260 that prevents shaking and inclination of the picker assembly 100 while the first lifting shaft 232 moves in the axial direction during the lifting operation.
  • a first elevating rail 250 coupled to the rear sealing cover and guiding the elevating operation of the first elevating guide 260 may be further configured.
  • the pitch adjusting device 300 is mounted on the lower portion of the base frame 102, and is coupled to the operation guide 116 formed in the rear portion of each of the plurality of picker frames 110 so that both the rotational operation and the lifting operation are possible. It is a component that adjusts the pitch of the plurality of picker frames 110 while moving the plurality of picker frames 110 in the lateral direction.
  • the pitch adjusting device 300 includes a second servo motor 310 providing a predetermined rotational force, a second power transmission member 320 connected to the second servomotor 310 to transmit the rotational force, and a second power transmission
  • the second elevating block 330 connected to the member 320 to convert the rotational force into linear motion, the elevating guide panel 340 connected to the second elevating block 330, and the elevating guide panel 340 are combined to elevate
  • the lifting plate 350 in which the operation is made, the coupling shaft 360 coupled to the lifting plate 350, the coupling shaft 360 and the plurality of picker frames 110 are respectively connected, and the lifting operation of the coupling shaft 360 is performed.
  • It is configured to include a pitch adjusting member 390 for adjusting the pitch of the plurality of picker frames 110 while the link operation is made.
  • the second servo motor 310 is coupled to one side of the rear portion of the base frame 102 , and provides a predetermined rotational force so that the link operation of the pitch adjusting member 390 can be achieved.
  • the second power transmission member 320 has the same configuration as the first power transmission member 220 , and one end is connected to the second servo motor 310 , and the other end is the second elevating block 330 of the second elevating block 330 . It is connected to the shaft 336 and serves to transmit the rotational force of the second servo motor 310 to the second lifting shaft 336 .
  • the second elevating block 330 is connected to the second power transmitting member 320 and is a component supporting the pitch adjusting member 390 so that the elevating operation can be made, and the lower end of the second power transmitting member 320 is
  • the second lifting shaft 336 connected to, coupled to the base frame 102, and consisting of upper and lower lifting blocks 332 and 334 for supporting the rotational operation of the second lifting shaft 336.
  • the elevating guide panel 340 is coupled to the second elevating shaft 336, and when the second elevating shaft 336 rotates, the elevating operation is performed along the outer circumferential surface of the second elevating shaft 336.
  • the elevating guide panel 340 and the second elevating shaft 336 may be formed in the same way as the coupling method of the first elevating shaft 232 and the first elevating block 230 described above, but is not limited thereto. .
  • the lifting plate 350 has an upper surface coupled to the lifting guide panel 340, and a coupling shaft 360 that is coupled to the pitch adjusting member 390 as a lower surface is coupled to the lifting guide panel 340 when the lifting operation is performed. It serves to support the lifting operation of the lifting link member 392 of the shaft 360 and the pitch adjusting member 390 coupled to the coupling shaft 360 .
  • the elevating plate 350 is a component for elevating the coupling shaft 360 connected to the elevating link member 392 while the elevating operation is performed together with the elevating guide panel 340 .
  • This lifting plate 350 is connected to the lifting guide groove 102a configured in the base frame 102 to prevent shaking or inclination of the picker assembly 100 from occurring during the lifting operation, and the lifting guide groove 102a. ) may be configured to be lifted along the
  • a second elevating rail 370 coupled to the elevating guide groove 102a to support the elevating operation of the elevating plate 350, and coupled to the elevating plate 350, the second elevating rail 370 A second lifting guide 380 that ascends and descends along It will be possible to prevent the inclination from occurring.
  • the coupling shaft 360 is fixedly coupled to the elevating plate 350 by the coupling bracket 362, and is formed to protrude from the central portion of the front side of the coupling bracket 362, so that the ends of the plurality of elevating link members 392 are rotatable.
  • the plurality of lifting link members 392 move upward and downward, and the adjustment link 394 connected to the lifting link member 392 rotates. make this happen
  • the pitch adjusting member 390 is coupled to the operation guide 116 of the plurality of picker frames 110, respectively, and a link operation by rotation is performed depending on whether the coupling shaft 360 is lifted or not. It is a component that adjusts the pitch of the picker frames 110 to the same pitch.
  • the pitch adjusting member 390 is rotatably coupled to an adjusting link 394 coupled to the operation guide 116 for rotation and elevating operation, and the adjusting link 394, whether the coupling shaft 360 is elevating or not.
  • the lifting link member 394 for rotating the adjustment link 394 according to the It is rotatably coupled and configured to include a rotating means 398 for supporting the lifting operation of the adjustment link 394 while rotating along the inner surface of the operation guide 116 .
  • the control link 394 is composed of a plurality, and in the present invention, it is composed of first and second control links 394a and 394b configured in an X-shape, that is, the first and second control links. At 394a and 394b, all of the plurality of operation guides 116 configured in the plurality of picker frames 110 are connected to each other through the rotation means 398 .
  • the first adjustment link 394a is rotatably and elevating the upper part of the first to fourth picker frames 110a to 110d. It is rotatably and vertically coupled to the operation guide 116 configured at the lower portion of the 8-pick frames 110e to 110h.
  • the second adjustment link 394b is rotatably and elevatingly coupled to the operation guide 116 whose upper portion is configured on the upper portion of the fifth to eighth picker frames 110e to 110h, and the lower portion of the first to first to eighth picker frames 110e to 110h.
  • the four picker frames 110a to 110d are rotatably and vertically coupled to the operation guide 116 configured under the frames.
  • the control link 394 has a rotation support member 396 formed at a central portion that intersects with each other, and a plurality of rotational support members 396 are rotated when the elevation link member 392 is lifted based on the axial center of the rotation support member 396 .
  • the picker frames 110 are configured to move at the same pitch.
  • the elevating link member 392 has a second upper end rotatably coupled to a lower portion of a first elevating link member 392a and a second adjusting link 394b rotatably coupled to a lower portion of the first adjusting link 394a. Consists of a lifting link member 392b, and the lower ends of the first and second elevating link members 392a and 392b are rotatably coupled by the coupling shaft 360 to raise and lower the coupling shaft 360. (360) is configured such that the first and second control links (394a, 394b) of the link operation is made while the rotation operation is made based on the center of the axis.
  • the lifting link member 392 is configured to be rotationally coupled by a rotation means 398 made of a rotation shaft or the like when combined with the adjustment link 392 .
  • picker assembly 102 base frame
  • pitch support frame 110 picker frame
  • control sleeve 150 pitch guide shaft
  • connection frame 210 first servo motor
  • first power transmission member 230 first elevating block
  • elevating support block 250 first elevating rail

Abstract

The present invention comprises: a picker assembly including a plurality of picker frames having operation guide parts respectively formed at the upper and lower sides of the rear thereof, a pitch guide shaft passing through the plurality of picker frames, and springs respectively provided at the top and bottom of the plurality of picker frames; a picker lifting/lowering device coupled to the rear portion of the picker assembly to lift/lower the entire picker assembly; and a pitch adjuster including a pitch-adjusting member, which comprises a plurality of adjusting links coupled to the operation guide parts so as to be rotatable and be liftable/lowerable so that the pitches of the plurality of picker frames are adjusted, and a plurality of lifting/lowering link members that are rotatably coupled to the lower portions of the plurality of adjusting links and that rotate the adjusting links during a lifting/lowering operation.

Description

자동 피치 조절이 가능한 픽커장치Picker with automatic pitch adjustment
본 발명은 자동 피치 조절이 가능한 픽커장치에 관한 것이다. 더욱 상세하게는 픽커 프레임의 후방으로 2점 지지 구조로 이루어지는 피치 조절장치를 구성하고, 픽커 프레임의 상부 및 하부에 각각 백래시를 방지하기 위한 수단을 구성하여 픽커의 피치 조절시 흔들림이나 기울어짐이 발생하지 않아 정확한 피치 조절이 가능함은 물론, 링크 작동 방식으로 피치 조절이 이루어지도록 함으로써 반영구적인 내구성을 제공할 수 있는 자동 피치 조절이 가능한 픽커장치에 관한 것이다. The present invention relates to a picker device capable of automatic pitch adjustment. In more detail, a pitch adjusting device having a two-point support structure is configured at the rear of the picker frame, and means for preventing backlash are provided at the upper and lower portions of the picker frame, respectively, so that shaking or inclination occurs when the pitch of the picker is adjusted. It relates to a picker device capable of automatic pitch control that can provide semi-permanent durability by allowing the pitch to be adjusted by a link operation method as well as accurate pitch control by not doing so.
일반적으로 반도체 패키지는 일련의 공정을 통하여 제조된 후에 출하 전에 정밀한 검사를 마치게 되는데, 이러한 정밀 검사는 반도체 소자의 패키지 내부 불량뿐만 아니라, 그 외관에 미소한 결함이 발생하더라도 성능에 치명적인 영향을 미치게 되므로, 전기적인 동작 검사뿐만 아니라, 비전 카메라를 이용한 외관 검사와 같은 여러 가지 검사를 수행하게 되며, 반도체 패키지의 이송을 위해 다양한 형태의 픽커가 구성된다. In general, after a semiconductor package is manufactured through a series of processes, a detailed inspection is completed before shipment. Since such a detailed inspection has a fatal effect on performance even if a small defect occurs in the exterior as well as an internal defect in the package of the semiconductor device. , electrical operation inspection as well as various inspections such as appearance inspection using a vision camera are performed, and various types of pickers are configured to transport semiconductor packages.
한편, 패키지의 사양변경 등과 관련하여 트레이의 피치, 턴테이블의 피치 등이 변하는 경우가 있으며, 이에 대응하여 픽커도 그 피치가 자동으로 조절될 수 있도록 캠 플레이트방식과 링크방식, 원통 캠방식 등의 픽커 간격 조절장치가 구성되며, 픽커에는 무빙블록에 의해 지지되는 형태로 이동되면서 피치 조절이 이루어지도록 구성된다. On the other hand, there are cases where the pitch of the tray and the pitch of the turntable change in connection with the specification change of the package, and in response to this, the pickers such as the cam plate method, the link method, and the cylindrical cam method can automatically adjust the pitch of the picker. A gap adjusting device is configured, and the picker is configured to adjust the pitch while moving in a form supported by the moving block.
그러나, 쏘팅픽커의 이동을 담당하는 무빙블록과 LM 가이드의 경우, 내부에 장착된 볼과의 사이에 존재하는 갭으로 인해 무빙블록과 LM 가이드 간에는 미세한 유격이 존재하게 되고, 결국 이러한 유격으로 인해 픽커가 흔들리면서 픽커의 피치조절시 오차가 발생하는 문제점이 있다.However, in the case of the moving block and the LM guide, which are responsible for the movement of the sorting picker, due to the gap between the moving block and the LM guide, there is a fine play between the moving block and the LM guide. There is a problem in that an error occurs when the pitch of the picker is adjusted due to the shaker shaking.
이와 같은 문제점을 해결하기 위하여 본 발명은 전술한 배경기술에 의해서 안출된 것으로, 픽커 프레임의 후방으로 2점 지지 구조로 이루어지는 피치 조절장치를 구성하여 피치 조절시 안정적이고 정확한 픽커의 이동이 가능함은 물론, 픽커의 이동량에 대한 정밀 제어가 가능한 자동 피치 조절이 가능한 픽커장치를 제공하는데 그 목적이 있다. In order to solve this problem, the present invention has been devised by the above-mentioned background technology, and by configuring a pitch adjusting device having a two-point support structure at the rear of the picker frame, stable and accurate movement of the picker is possible during pitch adjustment. An object of the present invention is to provide a picker device capable of automatic pitch control capable of precisely controlling the movement amount of the picker.
또한, 본 발명은 픽커 프레임의 상부 및 하부에 각각 백래시를 방지하기 위한 수단을 구성하여 픽커의 피치 조절시 흔들림이나 기울어짐이 발생하지 않아 정확한 피치 조절이 가능한 자동 피치 조절이 가능한 픽커장치를 제공하는데 그 목적이 있다. In addition, the present invention provides a picker device capable of automatic pitch adjustment capable of accurate pitch adjustment by configuring means for preventing backlash in the upper and lower portions of the picker frame, respectively, so that shaking or inclination does not occur when the pitch of the picker is adjusted. There is a purpose.
또한, 본 발명은 링크 작동 방식으로 피치 조절이 이루어지도록 함으로써 반영구적인 내구성을 제공할 수 있는 자동 피치 조절이 가능한 픽커장치를 제공하는데 그 목적이 있다. Another object of the present invention is to provide a picker device capable of automatic pitch adjustment that can provide semi-permanent durability by allowing pitch adjustment in a link operation method.
이와 같은 과제를 달성하기 위한 본 발명의 일 실시예에 따르면, 후방 상측 및 하측에 각각 형성되는 작동 안내부가 구성된 다수개의 픽커 프레임과, 상기 다수개의 픽커 프레임을 관통하는 피치 안내축과, 상기 다수개의 픽커 프레임의 상부 및 하부에 각각 구성되는 스프링을 포함하는 픽커 어셈블리; 상기 픽커 어셈블리의 후방부에 결합되어, 상기 픽커 어셈블리 전체를 승강시키는 픽커 승강장치; 및 상기 다수개의 픽커 프레임의 피치 조절이 이루어지도록 상기 작동 안내부에 회전 및 승강 가능하게 결합되는 복수의 조절링크와, 상기 복수의 조절링크의 하부에 회전 가능하게 결합되고, 승강 작동시 상기 조절링크를 회전시키는 복수의 승강 링크부재로 구성된 피치 조절부재를 포함하는 피치 조절장치;로 구성되는 것을 특징으로 한다.According to an embodiment of the present invention for achieving the above object, a plurality of picker frames configured with operation guides respectively formed on the rear upper and lower sides, a pitch guide shaft passing through the plurality of picker frames, and the plurality of a picker assembly including springs respectively configured on upper and lower portions of the picker frame; a picker elevating device coupled to a rear portion of the picker assembly to elevate the entire picker assembly; and a plurality of adjustment links rotatably coupled to the operation guide to adjust the pitch of the plurality of picker frames, and a plurality of adjustment links rotatably coupled to the lower portions of the plurality of adjustment links, and the adjustment links during the lifting operation and a pitch adjusting device including a pitch adjusting member composed of a plurality of elevating link members for rotating the .
본 발명의 일 실시예에 따르면, 상기 다수개의 픽커 프레임은, 제1 내지 제8픽커 프레임으로 구성되는 것을 특징으로 한다. According to an embodiment of the present invention, the plurality of picker frames is characterized in that it consists of first to eighth picker frames.
본 발명의 일 실시예에 따르면, 상기 스프링은, 상기 제1 및 제5픽커 프레임을 각각 연결하는 제1스프링과, 상기 제2 및 제6픽커 프레임을 각각 연결하는 제2스프링과, 상기 제3 및 제7픽커 프레임을 각각 연결하는 제3스프링과, 상기 제4 및 제8픽커 프레임을 각각 연결하는 제4스프링으로 구성되는 것을 특징으로 한다.According to an embodiment of the present invention, the spring includes a first spring connecting the first and fifth picker frames, respectively, a second spring connecting the second and sixth picker frames, respectively, and the third and a third spring connecting the seventh picker frame, respectively, and a fourth spring connecting the fourth and eighth picker frames, respectively.
본 발명의 일 실시예에 따르면, 상기 픽커 어셈블리에는, 상기 피치 안내축의 양단부가 결합되는 피치 지지 프레임과, 상기 피치 지지 프레임이 결합되고, 후방측 상부로 상기 픽커 승강장치가 결합되며, 상기 피치 조절장치의 승강 작동을 지지하는 베이스 프레임이 더 구성되는 것을 특징으로 한다.According to an embodiment of the present invention, in the picker assembly, a pitch support frame to which both ends of the pitch guide shaft are coupled, the pitch support frame is coupled, and the picker lifting device is coupled to the upper rear side, and the pitch adjusting device It is characterized in that the base frame for supporting the lifting operation of the further configured.
본 발명의 일 실시예에 따르면, 상기 픽커 승강장치는, 상기 베이스 프레임에 결합되는 연결 프레임; 상기 소정의 회전력을 제공하는 제1서보모터; 상기 제1서보모터의 회전력을 전달받아 직선 운동으로 변환하는 제1승강블록; 상기 연결 프레임에 결합되며, 상기 제1승강블록과 연결되어 상기 제1승강블록의 작동시 상기 연결 프레임을 승강시키는 승강 지지블록; 및 상기 제1서보모터의 회전력을 상기 제1승강블록측으로 전달하는 제1동력 전달부재;를 포함하는 것을 특징으로 한다.According to an embodiment of the present invention, the picker lifting device may include: a connection frame coupled to the base frame; a first servo motor providing the predetermined rotational force; a first elevating block receiving the rotational force of the first servo motor and converting it into a linear motion; an elevating support block coupled to the connecting frame and connected to the first elevating block to elevate the connecting frame when the first elevating block is operated; and a first power transmitting member that transmits the rotational force of the first servo motor to the first lifting block side.
본 발명의 일 실시예에 따르면, 상기 피치 조절장치는, 소정의 회전력을 제공하는 제2서보모터; 상기 제2서보모터와 연결되어 상기 회전력을 전달하는 제2동력 전달부재; 상기 제2동력 전달부재와 연결되고, 상기 회전력을 직선 운동으로 변환하는 제2승강블록; 상기 제2승강블록과 결합되며, 상기 제2승강블록의 구동시 승강 작동이 이루어지는 승강 가이드 패널; 및 상기 승강 가이드 패널과 결합되고, 하부 중앙으로, 상기 피치 조절부재와 연결되는 결합축이 구성되는 승강판;으로 구성되는 것을 특징으로 한다.According to an embodiment of the present invention, the pitch adjusting device includes: a second servo motor providing a predetermined rotational force; a second power transmission member connected to the second servo motor to transmit the rotational force; a second lifting block connected to the second power transmission member and converting the rotational force into linear motion; an elevating guide panel coupled to the second elevating block and performing elevating operation when the second elevating block is driven; and a lifting plate coupled to the lifting guide panel and having a coupling shaft connected to the pitch adjusting member toward the lower center.
본 발명의 일 실시예에 따르면, 상기 피치 조절부재는, 서로 교차되는 제1 및 제2 조절링크로 이루어지는 조절링크; 상기 제1 및 제2 조절링크에 회전 가능하게 결합되며, 작동 안내부에 모두 결합되어 상기 제1 및 제2 조절링크의 회전 및 승강 작동을 지지하는 회전수단; 상단부 및 하단부가 각각 상기 제1 및 제2 조절링크의 하부에 회전 가능하게 결합되고, 상기 결합축과 회전 가능하게 결합되는 제1 및 제2승강 링크부재로 구성되는 승강 링크부재; 및 상기 승강 링크부재와 상기 조절링크의 회전 결합을 지지하는 회전 지지부재;로 구성되는 것을 특징으로 한다.According to an embodiment of the present invention, the pitch adjusting member may include: an adjusting link comprising first and second adjusting links crossing each other; Rotating means rotatably coupled to the first and second control links, both of which are coupled to an operation guide to support rotation and elevating operations of the first and second control links; an elevating link member having an upper end and a lower end rotatably coupled to the lower portions of the first and second adjusting links, respectively, and comprising first and second elevating link members rotatably coupled to the coupling shaft; and a rotation support member for supporting rotational coupling of the elevating link member and the adjustment link.
이와 같은 본 발명의 실시예에 의하면, 픽커 프레임의 후방으로 2점 지지 구조로 이루어지는 피치 조절장치를 구성하여 서보모터에 의해 피치 조절이 이루어지도록 함으로써, 피치 조절시 안정적이고 정확한 픽커의 이동이 가능함은 물론, 픽커의 이동량에 대한 정밀 제어가 가능한 효과가 있다.According to this embodiment of the present invention, by configuring a pitch adjusting device having a two-point support structure at the rear of the picker frame so that the pitch is adjusted by a servo motor, stable and accurate movement of the picker is possible during pitch adjustment. Of course, there is an effect that precise control of the movement amount of the picker is possible.
또한, 본 발명의 실시예에 의하면, 픽커 프레임의 상부 및 하부에 각각 백래시를 방지하기 위한 수단을 구성하여 픽커의 피치 조절시 흔들림이나 기울어짐이 발생하지 않아 정확한 피치 조절이 가능한 효과가 있다.In addition, according to the embodiment of the present invention, by configuring means for preventing backlash respectively on the upper and lower portions of the picker frame, shaking or inclination does not occur when the pitch of the picker is adjusted, so that accurate pitch adjustment is possible.
또한, 본 발명의 실시예에 의하면, 링크 작동 방식으로 피치 조절이 이루어지도록 함으로써 반영구적인 내구성을 제공할 수 있는 효과가 있다.In addition, according to the embodiment of the present invention, there is an effect that can provide semi-permanent durability by allowing the pitch adjustment to be made in the link operation method.
도 1은 본 발명의 일 실시예에 따른 자동 피치 조절이 가능한 픽커장치를 나타낸 사시도, 1 is a perspective view showing a picker device capable of automatic pitch adjustment according to an embodiment of the present invention;
도 2는 본 발명의 일 실시예에 따른 자동 피치 조절이 가능한 픽커장치를 나타낸 저면 사시도, 2 is a bottom perspective view showing a picker device capable of automatic pitch adjustment according to an embodiment of the present invention;
도 3은 본 발명의 일 실시예에 따른 자동 피치 조절이 가능한 픽커장치를 나타낸 정면도, 3 is a front view showing a picker device capable of automatic pitch adjustment according to an embodiment of the present invention;
도 4는 본 발명의 일 실시예에 따른 자동 피치 조절이 가능한 픽커장치를 나타낸 평면도, 4 is a plan view showing a picker device capable of automatic pitch adjustment according to an embodiment of the present invention;
도 5 및 도 6은 본 발명의 일 실시예에 따른 자동 피치 조절이 가능한 픽커장치를 나타낸 배면부를 나타낸 도면, 5 and 6 are views showing a rear portion of a picker device capable of automatic pitch adjustment according to an embodiment of the present invention;
도 7 내지 도 10은 본 발명의 일 실시예에 따른 자동 피치 조절이 가능한 픽커장치의 피치 조절장치를 나타낸 도면이다. 7 to 10 are views showing a pitch adjusting device of a picker device capable of automatic pitch adjustment according to an embodiment of the present invention.
후방 상측 및 하측에 각각 형성되는 작동 안내부가 구성된 다수개의 픽커 프레임과, 상기 다수개의 픽커 프레임을 관통하는 피치 안내축과, 상기 다수개의 픽커 프레임의 상부 및 하부에 각각 구성되는 스프링을 포함하는 픽커 어셈블리; 상기 픽커 어셈블리의 후방부에 결합되어, 상기 픽커 어셈블리 전체를 승강시키는 픽커 승강장치; 및 상기 다수개의 픽커 프레임의 피치 조절이 이루어지도록 상기 작동 안내부에 회전 및 승강 가능하게 결합되는 복수의 조절링크와, 상기 복수의 조절링크의 하부에 회전 가능하게 결합되고, 승강 작동시 상기 조절링크를 회전시키는 복수의 승강 링크부재로 구성된 피치 조절부재를 포함하는 피치 조절장치;로 구성된다.A picker assembly comprising: a plurality of picker frames configured with operation guides respectively formed on upper and lower rear sides; a pitch guide shaft passing through the plurality of picker frames; and springs respectively configured on upper and lower portions of the plurality of picker frames ; a picker elevating device coupled to a rear portion of the picker assembly to elevate the entire picker assembly; and a plurality of adjustment links rotatably coupled to the operation guide part so as to adjust the pitch of the plurality of picker frames, and a plurality of adjustment links rotatably coupled to the lower portions of the plurality of adjustment links, and the adjustment links during the lifting operation and a pitch adjusting device including a pitch adjusting member composed of a plurality of elevating link members for rotating the .
이하, 첨부된 도면을 참고하여 본 발명의 실시예들을 상세히 설명하도록 한다. Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
도시된 바와 같이, 본 발명의 자동 피치 조절이 가능한 픽커장치는 반도체 패키지의 그립이 이루어지도록 승하강 작동이 이루어지는 픽커 어셈블리(100)와, 픽커 어셈블리의 후방측 상부에 구성되며, 픽커 어셈블리(100) 전체를 승강시키는 픽커 승강장치(200) 및 픽커 어셈블리(100)의 후방부에 구성되며, 링크 작동에 의해 픽커(130)의 피치 간격을 조절하는 피치 조절장치(300)를 포함하여 구성된다. As shown, the picker device capable of automatic pitch adjustment of the present invention includes a picker assembly 100 that raises and lowers so as to grip a semiconductor package, and an upper portion of the rear side of the picker assembly, and the picker assembly 100 It is configured in the rear part of the picker elevating device 200 and the picker assembly 100 for elevating the whole, and includes a pitch adjusting device 300 for adjusting the pitch interval of the pickers 130 by link operation.
픽커 어셈블리(100)는 피치 조절장치(300)와 결합되며, 하단부에 반도체 패키지의 그립이 이루어지도록 픽커(130)가 구성되는 다수개의 픽커 프레임(110)과, 픽커 프레임(110)에 결합되고, 픽커(130)의 피킹 작동을 지지하는 승하강 샤프트(120)와, 하단부에 반도체 패키지를 그립하는 픽커(130)가 장착되며, 이 픽커(130)의 픽킹 작동이 이루어지도록 소정의 진공압을 제공하는 제어 슬리브(140)와, 다수개의 픽커 프레임(110)들 간의 횡방향에 대한 이동을 안내하는 피치 안내축(150) 및 다수개의 픽커 프레임(110)들의 피치 조절시 발생하는 백래시를 방지하는 스프링(160)을 포함하여 구성된다The picker assembly 100 is coupled to the pitch adjusting device 300, and a plurality of picker frames 110 in which the picker 130 is configured to grip the semiconductor package at the lower end thereof, and the picker frame 110, An elevating shaft 120 supporting the picking operation of the picker 130, and a picker 130 for gripping the semiconductor package at the lower end are mounted, and a predetermined vacuum pressure is provided so that the picking operation of the picker 130 is performed. a control sleeve 140 to, a pitch guide shaft 150 guiding movement in the lateral direction between the plurality of picker frames 110 and a spring preventing backlash occurring during pitch adjustment of the plurality of picker frames 110 . is made up of 160
픽커 프레임(110)은 하단부에 픽커(130)가 승하강 작동이 가능하게 결합되고, 상단부로 제어 슬리브(140)가 픽커(130)와 연결되도록 장착되는 픽커 프레임(112)과, 이 픽커 프레임(112)의 상부에 구성되며, 승하강 샤프트(120)의 작동을 지지하는 지지 브라켓(114)을 포함하여 구성된다. The picker frame 110 includes a picker frame 112 that is mounted so that the picker 130 is coupled to the lower end to enable an elevating operation, and the control sleeve 140 is connected to the picker 130 at the upper end, and the picker frame ( It is configured on the upper part of the 112 and is configured to include a support bracket 114 for supporting the operation of the elevating shaft 120 .
이러한 픽커 프레임(110)은 픽커장치의 횡방향으로 다수개로 구성되며, 본 발명에서는 제1 내지 제8픽커 프레임(110a, 110b, 110c, 110d, 110e, 110f, 110g, 110h)와 같이 총 8개로 이루어지도록 구성된다.The picker frame 110 is composed of a plurality in the lateral direction of the picker device, and in the present invention, there are a total of eight picker frames 110a, 110b, 110c, 110d, 110e, 110f, 110g, 110h. configured to be done.
또한, 픽커 프레임(110)에는 그 상단부 및 하단부에 피치 조절시 발생하는 백래시를 저감시켜 픽커(130)의 흔들림을 방지하는 스프링(160)이 장착된다. In addition, the picker frame 110 is equipped with a spring 160 at the upper end and lower end thereof to reduce backlash generated during pitch adjustment to prevent shaking of the picker 130 .
이때, 스프링(160)은 상기 제1 내지 제8픽커 프레임(110a 내지 110h) 중 제1픽커 프레임(110a)과 제5픽커 프레임(110e)의 상단부 및 하단부를 각각 연결하는 제1스프링(160a)과, 제2 및 제6픽커 프레임(110b, 110f)을 각각 연결하는 제2스프링(160b)과, 제3 및 제7픽커 프레임(110c, 110g)을 각각 연결하는 제3스프링(160c)과, 제4 및 제8픽커 프레임(110d, 110h)을 각각 연결하는 제4스프링(160d)으로 구성된다.At this time, the spring 160 is a first spring 160a connecting upper and lower ends of the first picker frame 110a and the fifth picker frame 110e among the first to eighth picker frames 110a to 110h, respectively. and a second spring 160b connecting the second and sixth picker frames 110b and 110f, respectively, and a third spring 160c connecting the third and seventh picker frames 110c and 110g, respectively; and a fourth spring 160d connecting the fourth and eighth picker frames 110d and 110h, respectively.
아울러 픽커 프레임(110)에는 후방측 상부 및 하부에 각각 구성되며, 후술할 피치 조절부재(390) 중 조절링크(394)의 상단 및 하단부가 각각 연결되며, 이 조절링크(394)의 작동시 승하강 작동을 지지함과 동시에 조절링크(394)의 상승, 또는 하강 작동량에 대응하여 픽커 프레임(110)을 횡방향으로 일정 거리 만큼 이동시켜 피치 조절이 이루어지도록 지지하는 작동 안내부(116)가 구성된다. In addition, the picker frame 110 is configured on the rear upper and lower sides, respectively, and the upper and lower ends of the adjusting link 394 among the pitch adjusting members 390 to be described later are respectively connected, and when the adjusting link 394 is operated, the An operation guide 116 that supports the lowering operation and supports the pitch adjustment by moving the picker frame 110 in the lateral direction by a certain distance in response to the rising or falling operation amount of the adjusting link 394 at the same time. is composed
승하강 샤프트(120)는 하단부가 제어 슬리브(140)와 연결되며, 구동캠 및 구동모터 등으로 이루어지는 구동수단와 연결되어 제어 슬리브(140)의 승하강 작동이 이루어지도록 지지하는 역할을 한다. The lower end of the elevating shaft 120 is connected to the control sleeve 140 and is connected to a driving means including a driving cam and a driving motor to support the elevating operation of the control sleeve 140 .
제어 슬리브(140)는 상단부에 하단부에 반도체 패키지를 그립하는 픽커(130)가 장착되는 것으로, 승하강 샤프트(120)의 구동 여부에 따라 픽커(130)를 승하강시키고, 소정의 진공압을 제공하는 진공압호스가 연결되어 픽커(130)의 피킹 작동이 이루어지도록 하는 구성요소이다.The control sleeve 140 is equipped with a picker 130 for gripping the semiconductor package at the lower end at the upper end, and raises and lowers the picker 130 according to whether the elevating shaft 120 is driven, and provides a predetermined vacuum pressure. It is a component to which a vacuum pressure hose is connected so that the picking operation of the picker 130 is made.
피치 안내축(150)은 제1 내지 제8픽커 프레임(110a 내지 110h)으로 이루어지는 다수개의 픽커 프레임(110)을 관통하며, 피치 조절장치(300)의 구동시 다수개의 픽커 프레임(110)들의 횡방향 이동을 지지하는 것으로, 이동시 발생하는 흔들림이나 기울어짐 등을 방지하는 역할을 한다. The pitch guide shaft 150 passes through the plurality of picker frames 110 including the first to eighth picker frames 110a to 110h, and when the pitch adjusting device 300 is driven, the plurality of picker frames 110 are lateral to each other. It supports directional movement, and serves to prevent shaking or inclination that occurs during movement.
이러한 피치 안내축(150)은 다수개의 픽커 프레임(110)들의 상부 및 하부를 각각 관통하도록 구성되며, 바람직하게는 다수개의 픽커 프레임(110)의 상부 및 하부에 각각 한 쌍을 이루도록 구성된다. The pitch guide shaft 150 is configured to pass through the upper and lower portions of the plurality of picker frames 110, respectively, and is preferably configured to form a pair on the upper and lower portions of the plurality of picker frames 110, respectively.
한편, 본 발명의 픽커 어셈블리(100)에는 픽커 프레임(110)의 후방부에 위치하며, 이 픽커 어셈블리(100)이 픽커 승강장치(200) 및 피치 조절장치(300)와 각각 독립적으로 결합이 이루어지도록 하는 베이스 프레임(102)과, 베이스 프레임(102)의 전방측 양측 단부에 결합되며, 피치 안내축(150)의 단부가 결합되는 피치 지지 프레임(104)이 더 구성된다. Meanwhile, in the picker assembly 100 of the present invention, it is located at the rear of the picker frame 110 , and the picker assembly 100 is independently coupled to the picker lifting device 200 and the pitch adjusting device 300 , respectively. The base frame 102 and the base frame 102 are coupled to both ends of the front side, the pitch support frame 104 to which the end of the pitch guide shaft 150 is coupled is further configured.
여기서, 베이스 프레임(102)에는 후술할 피치 조절장치(300)의 제2승강레일(370)이 장착되며, 이 제2승강레일(370)을 따라 이동하는 제2승강 안내부(380)의 승강 작동을 안내하는 승강 안내홈(102a)이 더 구성된다. Here, the base frame 102 is equipped with a second elevating rail 370 of a pitch adjusting device 300 to be described later, and elevating the second elevating guide 380 moving along the second elevating rail 370 . An elevation guide groove 102a for guiding the operation is further configured.
또한, 베이스 프레임(102)에는 후방측 상부로 픽커 승강장치(200)의 연결 프레임(202)이 고정 결합되도록 구성되어 픽커 승강장치(200)의 구동 여부에 따라 픽커 어셈블리(100)의 승강이 이루어지도록 구성된다.In addition, the base frame 102 is configured such that the connection frame 202 of the picker lifting device 200 is fixedly coupled to the upper rear side, so that the picker assembly 100 can be lifted or lowered according to whether the picker lifting device 200 is driven or not. is composed
픽커 승강장치(200)는 픽커 어셈블리(100)의 승강을 위한 소정의 회전력을 제공하는 제1서보모터(210)와, 제1서보모터(210)의 회전력을 전달받아 베이스 프레임(102)을 승강시키는 제1승강블록(230)과, 연결 프레임(202)에 결합되며, 제1승강블록(232)과 연결되는 승강 지지블록(240) 및 제1서보모터(210)의 회전력을 제1승강블록(230)측으로 전달하는 제1동력 전달부재(220)를 포함하여 구성된다. The picker lifting device 200 includes a first servo motor 210 that provides a predetermined rotational force for lifting and lowering of the picker assembly 100 and a base frame 102 by receiving the rotational force of the first servomotor 210 to raise and lower the base frame 102 . The first elevating block 230, coupled to the connecting frame 202, and the first elevating block using the rotational force of the elevating support block 240 and the first servo motor 210 connected to the first elevating block 232 are applied to the first elevating block. (230) is configured to include a first power transmission member 220 for transmitting to the side.
이때, 제1동력 전달부재(220)는 통상의 체인 및 스프로켓, 벨트, 기어와 같은 동력 전달수단으로 구성될 수 있다. In this case, the first power transmission member 220 may be configured of a conventional chain and power transmission means such as a sprocket, a belt, and a gear.
또한, 제1승강블록(230)은 제1동력 전달부재(220)와 연결되는 제1승강축(232)이 결합되어 이 제1동력 전달부재(220)로부터 회전력이 전달되는 경우, 제1승강축(232)이 회전 작동에 의해 승강이 이루어지도록 지지하는 구성요소이다. In addition, when the first lifting block 230 is coupled to the first lifting shaft 232 connected to the first power transmitting member 220 , and rotational force is transmitted from the first power transmitting member 220 , the first lifting and lowering block 230 . The shaft 232 is a component that supports the lifting and lowering by rotational operation.
여기서, 제1승강블록(230)의 내면 및 제1승강축(232)의 외주면에는 각각 서로 대응되게 구성되며, 나사 결합 방식으로 결합되는 나선형의 홈을 형성하여 제1승강블록(232)의 내면을 따라 승강 작동이 이루어지도록 구성될 수 있으나, 이에 한정하는 것은 아니다.Here, the inner surface of the first elevating block 230 and the outer circumferential surface of the first elevating shaft 232 are configured to correspond to each other, and a spiral groove is formed to be coupled by a screw coupling method to form the inner surface of the first elevating block 232 . It may be configured such that the lifting operation is made along the , but is not limited thereto.
이때, 제1승강블록(230)은 도면에 도시하지는 않았으나, 픽커장치의 후방부를 밀폐시키는 후방 밀폐커버(미도시)에 결합될 수 있으나, 이에 한정하는 것은 아니다. At this time, although not shown in the drawings, the first lifting block 230 may be coupled to a rear sealing cover (not shown) that seals the rear portion of the picker device, but is not limited thereto.
아울러, 제1승강블록(232)에는 그 상부로 소정 간격 이격되게 구성되며, 연결 프레임(202)의 후방부에 고정 결합되고, 제1승강축(232)의 회전 작동을 지지하는 한편, 제1승강축(232)의 승강 작동시 연결 프레임(202) 및 이 연결 프레임(202)과 결합되는 베이스 프레임(102)을 승강시키는 승강 지지블록(240)이 구성된다. In addition, the first lifting block 232 is configured to be spaced apart from the upper portion by a predetermined interval, and is fixedly coupled to the rear portion of the connection frame 202 , while supporting the rotational operation of the first lifting shaft 232 , the first During the lifting operation of the lifting shaft 232 , the connecting frame 202 and the elevating support block 240 for elevating the base frame 102 coupled to the connecting frame 202 are configured.
여기서, 연결 프레임(202)에는 승강 작동시 제1승강축(232)의 축 방향 이동이 이루어지면서 픽커 어셈블리(100)의 흔들림 및 기울어짐 등을 방지하는 제1승강 안내부(260)가 결합되며, 상기 후방 밀폐커버에 결합되고 제1승강 안내부(260)의 승강 작동을 가이드 하는 제1승강레일(250)이 더 구성될 수 있다. Here, the connection frame 202 is coupled to a first lifting guide 260 that prevents shaking and inclination of the picker assembly 100 while the first lifting shaft 232 moves in the axial direction during the lifting operation. , a first elevating rail 250 coupled to the rear sealing cover and guiding the elevating operation of the first elevating guide 260 may be further configured.
피치 조절장치(300)는 베이스 프레임(102)의 하부에 장착되며, 다수개의 픽커 프레임(110)들 각각의 후방부에 형성되는 작동 안내부(116)에 회전 작동 및 승강 작동이 모두 가능하게 결합되어 다수개의 픽커 프레임(110)들을 횡방향 이동시키면서 이 다수개의 픽커 프레임(110)들의 피치를 조절하는 구성요소이다. The pitch adjusting device 300 is mounted on the lower portion of the base frame 102, and is coupled to the operation guide 116 formed in the rear portion of each of the plurality of picker frames 110 so that both the rotational operation and the lifting operation are possible. It is a component that adjusts the pitch of the plurality of picker frames 110 while moving the plurality of picker frames 110 in the lateral direction.
이러한 피치 조절장치(300)는 소정의 회전력을 제공하는 제2서보모터(310), 제2서보모터(310)와 연결되어 상기 회전력을 전달하는 제2동력 전달부재(320), 제2동력 전달부재(320)와 연결되어 상기 회전력을 직선 운동으로 변환하는 제2승강블록(330), 제2승강블록(330)과 연결되는 승강 가이드 패널(340), 승강 가이드 패널(340)과 결합되어 승강 작동이 이루어지는 승강판(350), 승강판(350)에 결합되는 결합축(360), 결합축(360) 및 다수개의 픽커 프레임(110)과 각각 연결되고, 상기 결합축(360)의 승강 작동시 링크 작동이 이루어지면서 다수개의 픽커 프레임(110)들에 대한 피치를 조절하는 피치 조절부재(390)를 포함하여 구성된다. The pitch adjusting device 300 includes a second servo motor 310 providing a predetermined rotational force, a second power transmission member 320 connected to the second servomotor 310 to transmit the rotational force, and a second power transmission The second elevating block 330 connected to the member 320 to convert the rotational force into linear motion, the elevating guide panel 340 connected to the second elevating block 330, and the elevating guide panel 340 are combined to elevate The lifting plate 350 in which the operation is made, the coupling shaft 360 coupled to the lifting plate 350, the coupling shaft 360 and the plurality of picker frames 110 are respectively connected, and the lifting operation of the coupling shaft 360 is performed. It is configured to include a pitch adjusting member 390 for adjusting the pitch of the plurality of picker frames 110 while the link operation is made.
제2서보모터(310)는 베이스 프레임(102)의 후방부 일측에 결합되며, 피치 조절부재(390)의 링크 작동이 이루어질 수 있도록 소정의 회전력을 제공한다. The second servo motor 310 is coupled to one side of the rear portion of the base frame 102 , and provides a predetermined rotational force so that the link operation of the pitch adjusting member 390 can be achieved.
제2동력 전달부재(320)는 제1동력 전달부재(220)와 동일하게 구성되는 것으로, 일단이 제2서보모터(310)와 연결되고, 타단이 제2승강블록(330)의 제2승강축(336)과 연결되어 제2서보모터(310)의 회전력을 제2승강축(336)으로 전달하는 역할을 한다. The second power transmission member 320 has the same configuration as the first power transmission member 220 , and one end is connected to the second servo motor 310 , and the other end is the second elevating block 330 of the second elevating block 330 . It is connected to the shaft 336 and serves to transmit the rotational force of the second servo motor 310 to the second lifting shaft 336 .
제2승강블록(330)은 제2동력 전달부재(320)와 연결되며, 피치 조절부재(390)의 승강 작동이 이루어질 수 있도록 지지하는 구성요소로서, 하단부가 상기 제2동력 전달부재(320)와 연결되는 제2승강축(336)과, 베이스 프레임(102)에 결합되며, 제2승강축(336)의 회전 작동을 지지하는 상부 및 하부 승강블록(332, 334)으로 구성된다. The second elevating block 330 is connected to the second power transmitting member 320 and is a component supporting the pitch adjusting member 390 so that the elevating operation can be made, and the lower end of the second power transmitting member 320 is The second lifting shaft 336 connected to, coupled to the base frame 102, and consisting of upper and lower lifting blocks 332 and 334 for supporting the rotational operation of the second lifting shaft 336.
승강 가이드 패널(340)은 제2승강축(336)에 결합되고, 이 제2승강축(336)의 회전 작동시 제2승강축(336)의 외주면을 따라 승강 작동이 이루어지도록 구성된다. The elevating guide panel 340 is coupled to the second elevating shaft 336, and when the second elevating shaft 336 rotates, the elevating operation is performed along the outer circumferential surface of the second elevating shaft 336.
이러한 승강 가이드 패널(340) 및 제2승강축(336)은 전술한 제1승강축(232) 및 제1승강블록(230)의 결합방식과 동일한 결합 방식으로 이루어질 수 있으나, 이에 한정하는 것은 아니다. The elevating guide panel 340 and the second elevating shaft 336 may be formed in the same way as the coupling method of the first elevating shaft 232 and the first elevating block 230 described above, but is not limited thereto. .
승강판(350)은 상부 일면이 승강 가이드 패널(340)에 결합되고, 하부면으로 피치 조절부재(390)와 결합되는 결합축(360)이 결합되어 승강 가이드 패널(340)의 승강 작동시 결합축(360) 및 이 결합축(360)과 결합되는 피치 조절부재(390) 중 승강 링크부재(392)의 승강 작동이 이루어지도록 지지하는 역할을 한다. The lifting plate 350 has an upper surface coupled to the lifting guide panel 340, and a coupling shaft 360 that is coupled to the pitch adjusting member 390 as a lower surface is coupled to the lifting guide panel 340 when the lifting operation is performed. It serves to support the lifting operation of the lifting link member 392 of the shaft 360 and the pitch adjusting member 390 coupled to the coupling shaft 360 .
즉, 승강판(350)은 승강 가이드 패널(340)과 함께 승강 작동이 이루어지면서 승강 링크부재(392)와 연결된 결합축(360)을 승강시키는 구성요소이다. That is, the elevating plate 350 is a component for elevating the coupling shaft 360 connected to the elevating link member 392 while the elevating operation is performed together with the elevating guide panel 340 .
이러한 승강판(350)은 승강 작동시 픽커 어셈블리(100)의 흔들림이나 기울어짐이 발생하는 것을 방지하기 위하여 베이스 프레임(102)에 구성되는 승강 안내홈(102a)에 연결되어 이 승강 안내홈(102a)을 따라 승강이 이루어지도록 구성될 수 있다. This lifting plate 350 is connected to the lifting guide groove 102a configured in the base frame 102 to prevent shaking or inclination of the picker assembly 100 from occurring during the lifting operation, and the lifting guide groove 102a. ) may be configured to be lifted along the
바람직하게는, 상기 승강 안내홈(102a)에 결합되어 승강판(350)의 승강 작동을 지지하는 제2승강레일(370)과, 승강판(350)에 결합되며,제2승강레일(370)을 따라 승강하는 제2승강 안내부(380)가 더 구성되어 승강판(350)의 승강 작동시 제2승강레일(370)을 따라 승강이 이루어게 되어 안정적인 승강 작동에 의한 픽커 어셈블리(100)의 흔들림이나 기울어짐이 발생하는 것을 방지할 수 있을 것이다.Preferably, a second elevating rail 370 coupled to the elevating guide groove 102a to support the elevating operation of the elevating plate 350, and coupled to the elevating plate 350, the second elevating rail 370 A second lifting guide 380 that ascends and descends along It will be possible to prevent the inclination from occurring.
결합축(360)은 결합 브라켓(362)에 의해 승강판(350)에 고정 결합되며, 이 결합 브라켓(362)의 전방측 중앙부에 돌출 형성되어 복수의 승강 링크부재(392)의 끝단부가 회전 가능하게 결합되어 승강판(350)의 승강 작동에 따라 복수의 승강 링크부재(392)가 상, 하 방향으로 승강 작동이 이루어지면서 이 승강 링크부재(392)와 연결되는 조절링크(394)의 회전 작동이 이루어질 수 있도록 한다.The coupling shaft 360 is fixedly coupled to the elevating plate 350 by the coupling bracket 362, and is formed to protrude from the central portion of the front side of the coupling bracket 362, so that the ends of the plurality of elevating link members 392 are rotatable. In accordance with the lifting operation of the lifting plate 350, the plurality of lifting link members 392 move upward and downward, and the adjustment link 394 connected to the lifting link member 392 rotates. make this happen
피치 조절부재(390)는 다수개의 픽커 프레임(110)에 구성되는 작동 안내부(116)와 각각 결합되며, 결합축(360)의 승강 작동 여부에 따라 회전에 의한 링크 작동이 이루어지면서 상기 다수개의 픽커 프레임(110)들의 피치를 동일한 피치로 조절하는 구성요소이다.The pitch adjusting member 390 is coupled to the operation guide 116 of the plurality of picker frames 110, respectively, and a link operation by rotation is performed depending on whether the coupling shaft 360 is lifted or not. It is a component that adjusts the pitch of the picker frames 110 to the same pitch.
이러한 피치 조절부재(390)는 상기 작동 안내부(116)에 회전 및 승강 작동이 가능하게 결합되는 조절링크(394)와, 조절링크(394)와 회전 결합되며, 결합축(360)의 승강 여부에 따라 조절링크(394)를 회전시키는 승강 링크부재(394)와, 조절링크(394)의 중앙부에 결합되어 회전 작동을 지지하는 회전 지지부재(396)와, 조절링크(394)의 끝단부에 회전 가능하게 결합되며, 작동 안내부(116)의 내면을 따라 회전하면서 조절링크(394)의 승강 작동을 지지하는 회전수단(398)을 포함하여 구성된다. The pitch adjusting member 390 is rotatably coupled to an adjusting link 394 coupled to the operation guide 116 for rotation and elevating operation, and the adjusting link 394, whether the coupling shaft 360 is elevating or not. The lifting link member 394 for rotating the adjustment link 394 according to the It is rotatably coupled and configured to include a rotating means 398 for supporting the lifting operation of the adjustment link 394 while rotating along the inner surface of the operation guide 116 .
조절링크(394)는 복수개로 구성되며, 본 발명에서는 서로 교차되는 형태, 즉 X자 형태로 구성되는 제1 및 제2 조절링크(394a, 394b)로 구성되며, 이 제1 및 제2조절링크(394a, 394b)에는 다수개의 픽커 프레임(110)에 각각 구성되는 다수개의 작동 안내부(116)에 모두 회전수단(398)을 통해 연결이 이루어지도록 구성된다. The control link 394 is composed of a plurality, and in the present invention, it is composed of first and second control links 394a and 394b configured in an X-shape, that is, the first and second control links. At 394a and 394b, all of the plurality of operation guides 116 configured in the plurality of picker frames 110 are connected to each other through the rotation means 398 .
이때, 제1조절링크(394a)는 상부가 제1 내지 제4픽커 프레임(110a 내지 110d)의 상부에 구성되는 작동 안내부(116)와 회전 및 승강 가능하게 결합되고, 하부가 제5 내지 제8픽커 프레임(110e 내지 110h)의 하부에 구성되는 작동 안내부(116)와 회전 및 승강 가능하게 결합된다.At this time, the first adjustment link 394a is rotatably and elevating the upper part of the first to fourth picker frames 110a to 110d. It is rotatably and vertically coupled to the operation guide 116 configured at the lower portion of the 8-pick frames 110e to 110h.
또한, 제2조절링크(394b)는 상부가 제5 내지 제8픽커 프레임(110e 내지 110h)의 상부에 구성되는 작동 안내부(116)와 회전 및 승강 가능하게 결합되고, 하부가 제1 내지 제4픽커 프레임(110a 내지 110d)의 하부에 구성되는 작동 안내부(116)와 회전 및 승강 가능하게 결합된다.In addition, the second adjustment link 394b is rotatably and elevatingly coupled to the operation guide 116 whose upper portion is configured on the upper portion of the fifth to eighth picker frames 110e to 110h, and the lower portion of the first to first to eighth picker frames 110e to 110h. The four picker frames 110a to 110d are rotatably and vertically coupled to the operation guide 116 configured under the frames.
이러한 조절링크(394)는 서로 교차하는 중앙부에 회전 지지부재(396)가 구성되며, 이 회전 지지부재(396)의 축 중심을 기준으로 승강 링크부재(392)의 승강시 회전 작동이 이루어지면서 다수개의 픽커 프레임(110)들이 동일한 피치로 이동이 이루어지도록 구성된다.The control link 394 has a rotation support member 396 formed at a central portion that intersects with each other, and a plurality of rotational support members 396 are rotated when the elevation link member 392 is lifted based on the axial center of the rotation support member 396 . The picker frames 110 are configured to move at the same pitch.
승강 링크부재(392)는 상단부가 제1조절링크(394a)의 하부에 회전 가능하게 결합되는 제1승강 링크부재(392a)와 제2조절링크(394b)의 하부에 회전 가능하게 결합되는 제2승강 링크부재(392b)로 구성되며, 이 제1 및 제2승랑 링크부재(392a, 392b)의 하단부가 결합축(360)에 의해 회전 가능하게 결합되어 결합축(360)의 승강시 이 결합축(360)의 축 중심을 기준으로 회전 작동이 이루어지면서 제1 및 제2조절링크(394a, 394b)의 링크 작동이 이루어지도록 구성된다. The elevating link member 392 has a second upper end rotatably coupled to a lower portion of a first elevating link member 392a and a second adjusting link 394b rotatably coupled to a lower portion of the first adjusting link 394a. Consists of a lifting link member 392b, and the lower ends of the first and second elevating link members 392a and 392b are rotatably coupled by the coupling shaft 360 to raise and lower the coupling shaft 360. (360) is configured such that the first and second control links (394a, 394b) of the link operation is made while the rotation operation is made based on the center of the axis.
이때, 승강 링크부재(392)는 조절링크(392)와의 결합시 회전축 등으로 이루어지는 회전수단(398)에 의해 회전 결합이 이루어지도록 구성됨이 바람직하다.At this time, it is preferable that the lifting link member 392 is configured to be rotationally coupled by a rotation means 398 made of a rotation shaft or the like when combined with the adjustment link 392 .
100: 픽커 어셈블리 102: 베이스 프레임100: picker assembly 102: base frame
104: 피치 지지 프레임 110: 픽커 프레임104: pitch support frame 110: picker frame
120: 승하강 샤프트 130: 픽커120: elevating shaft 130: picker
140: 제어 슬리브 150: 피치 안내축140: control sleeve 150: pitch guide shaft
160: 스프링 200: 픽커 승강장치160: spring 200: picker lifting device
202: 연결 프레임 210: 제1서보모터202: connection frame 210: first servo motor
220: 제1동력 전달부재 230: 제1승강블록220: first power transmission member 230: first elevating block
240: 승강 지지블록 250: 제1승강레일240: elevating support block 250: first elevating rail
260: 제1승강 안내부 300: 피치 조절장치260: first elevating guide 300: pitch adjusting device
310: 제2서보모터 320: 제2동력 전달부재310: second servo motor 320: second power transmission member
330: 제2승강블록 340: 승강 가이드 패널330: second elevating block 340: elevating guide panel
350: 승강판 360: 결합축350: lifting plate 360: coupling shaft
370: 제2승강레일 380: 제2승강 안내부370: second elevating rail 380: second elevating guide
390: 피치 조절부재390: pitch adjustment member

Claims (6)

  1. 후방 상측 및 하측에 각각 형성되는 작동 안내부가 구성된 다수개의 픽커 프레임과, 상기 다수개의 픽커 프레임을 관통하는 피치 안내축과, 상기 다수개의 픽커 프레임의 상부 및 하부에 각각 구성되는 스프링을 포함하는 픽커 어셈블리; A picker assembly comprising: a plurality of picker frames configured with operation guides respectively formed on upper and lower rear sides; a pitch guide shaft passing through the plurality of picker frames; and springs respectively configured on upper and lower portions of the plurality of picker frames ;
    상기 픽커 어셈블리의 후방부에 결합되어, 상기 픽커 어셈블리 전체를 승강시키는 픽커 승강장치; 및 a picker elevating device coupled to a rear portion of the picker assembly to elevate the entire picker assembly; and
    상기 다수개의 픽커 프레임의 피치 조절이 이루어지도록 상기 작동 안내부에 회전 및 승강 가능하게 결합되는 복수의 조절링크와, 상기 복수의 조절링크의 하부에 회전 가능하게 결합되고, 승강 작동시 상기 조절링크를 회전시키는 복수의 승강 링크부재로 구성된 피치 조절부재를 포함하는 피치 조절장치;A plurality of adjustment links rotatably and elevatingly coupled to the operation guide so as to adjust the pitch of the plurality of picker frames, and rotatably coupled to a lower portion of the plurality of adjusting links, the adjusting link is rotatably coupled to the lower portion of the plurality of adjusting links, and the adjusting link is adjusted during the elevating operation. a pitch adjusting device including a pitch adjusting member composed of a plurality of elevating link members to rotate;
    로 구성되는 것을 특징으로 하는 자동 피치 조절이 가능한 픽커장치.A picker device capable of automatic pitch adjustment, characterized in that it consists of.
  2. 제1항에 있어서, According to claim 1,
    상기 다수개의 픽커 프레임은, 제1 내지 제8픽커 프레임으로 구성되고, The plurality of picker frames includes first to eighth picker frames,
    상기 스프링은, The spring is
    상기 제1 및 제5픽커 프레임을 각각 연결하는 제1스프링과, 상기 제2 및 제6픽커 프레임을 각각 연결하는 제2스프링과, 상기 제3 및 제7픽커 프레임을 각각 연결하는 제3스프링과, 상기 제4 및 제8픽커 프레임을 각각 연결하는 제4스프링으로 구성되는 것을 특징으로 하는 자동 피치 조절이 가능한 픽커장치.a first spring connecting the first and fifth picker frames, respectively, a second spring connecting the second and sixth picker frames, respectively, and a third spring connecting the third and seventh picker frames, respectively; and a fourth spring connecting the fourth and eighth picker frames, respectively.
  3. 제2항에 있어서, 3. The method of claim 2,
    상기 픽커 어셈블리에는, In the picker assembly,
    상기 피치 안내축의 양단부가 결합되는 피치 지지 프레임과, a pitch support frame to which both ends of the pitch guide shaft are coupled;
    상기 피치 지지 프레임이 결합되고, 후방측 상부로 상기 픽커 승강장치가 결합되며, 상기 피치 조절장치의 승강 작동을 지지하는 베이스 프레임The pitch support frame is coupled, the picker lifting device is coupled to the upper rear side, the base frame supporting the lifting operation of the pitch adjusting device
    이 더 구성되는 것을 특징으로 하는 자동 피치 조절이 가능한 픽커장치.The picker device capable of automatic pitch adjustment, characterized in that it is further configured.
  4. 제2항에 있어서, 3. The method of claim 2,
    상기 픽커 승강장치는, The picker lifting device,
    상기 베이스 프레임에 결합되는 연결 프레임; a connection frame coupled to the base frame;
    상기 소정의 회전력을 제공하는 제1서보모터; a first servo motor providing the predetermined rotational force;
    상기 제1서보모터의 회전력을 전달받아 직선 운동으로 변환하는 제1승강블록; a first elevating block that receives the rotational force of the first servo motor and converts it into a linear motion;
    상기 연결 프레임에 결합되며, 상기 제1승강블록과 연결되어 상기 제1승강블록의 작동시 상기 연결 프레임을 승강시키는 승강 지지블록; 및 an elevating support block coupled to the connecting frame and connected to the first elevating block to elevate the connecting frame when the first elevating block is operated; and
    상기 제1서보모터의 회전력을 상기 제1승강블록측으로 전달하는 제1동력 전달부재; a first power transmitting member transmitting the rotational force of the first servo motor to the first lifting block side;
    를 포함하는 것을 특징으로 하는 자동 피치 조절이 가능한 픽커장치.Automatic pitch adjustment possible picker device comprising a.
  5. 제1항에 있어서, According to claim 1,
    상기 피치 조절장치는, The pitch adjusting device,
    소정의 회전력을 제공하는 제2서보모터; a second servo motor providing a predetermined rotational force;
    상기 제2서보모터와 연결되어 상기 회전력을 전달하는 제2동력 전달부재; a second power transmission member connected to the second servo motor to transmit the rotational force;
    상기 제2동력 전달부재와 연결되고, 상기 회전력을 직선 운동으로 변환하는 제2승강블록; a second lifting block connected to the second power transmission member and converting the rotational force into linear motion;
    상기 제2승강블록과 결합되며, 상기 제2승강블록의 구동시 승강 작동이 이루어지는 승강 가이드 패널; 및 an elevating guide panel coupled to the second elevating block and performing elevating operation when the second elevating block is driven; and
    상기 승강 가이드 패널과 결합되고, 하부 중앙으로, 상기 피치 조절부재와 연결되는 결합축이 구성되는 승강판; a lifting plate coupled to the lifting guide panel and having a coupling shaft connected to the pitch adjusting member in a lower center thereof;
    으로 구성되는 것을 특징으로 하는 자동 피치 조절이 가능한 픽커장치.A picker device capable of automatic pitch adjustment, characterized in that it consists of.
  6. 제5항에 있어서, 6. The method of claim 5,
    상기 피치 조절부재는, The pitch adjusting member,
    서로 교차되는 제1 및 제2 조절링크로 이루어지는 조절링크; a control link comprising first and second control links intersecting with each other;
    상기 제1 및 제2 조절링크에 회전 가능하게 결합되며, 작동 안내부에 모두 결합되어 상기 제1 및 제2 조절링크의 회전 및 승강 작동을 지지하는 회전수단; a rotation means rotatably coupled to the first and second control links and coupled to an operation guide to support rotation and lifting operations of the first and second control links;
    상단부 및 하단부가 각각 상기 제1 및 제2 조절링크의 하부에 회전 가능하게 결합되고, 상기 결합축과 회전 가능하게 결합되는 제1 및 제2승강 링크부재로 구성되는 승강 링크부재; 및 an elevating link member having an upper end and a lower end rotatably coupled to the lower portions of the first and second adjusting links, respectively, and comprising first and second elevating link members rotatably coupled to the coupling shaft; and
    상기 승강 링크부재와 상기 조절링크의 회전 결합을 지지하는 회전 지지부재;a rotation support member for supporting rotational coupling of the elevating link member and the adjustment link;
    로 구성되는 것을 특징으로 하는 자동 피치 조절이 가능한 픽커장치.A picker device capable of automatic pitch adjustment, characterized in that it consists of.
PCT/KR2021/000386 2020-08-20 2021-01-12 Picker device having automatically adjustable pitch WO2022039337A1 (en)

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