KR20100053808A - Driving gripper, automatic processing apparatus comprising the same and material transfer method using the same - Google Patents

Abstract

PURPOSE: An electromotive gripper, an automation process machine including the same and a method for transferring components using the same are provided to utilize the internal space of the automation process machine by directly loading the components on the rail of the electromotive gripper. CONSTITUTION: A rotary motion unit linearly moves a first linear motion part to a first direction and a second linear motion part to a second direction by a rotary motion. The second direction opposes to the first direction. A first rail(221) is connected to the first linear motion part through a first connection unit and is arranged to a third direction which crosses over the first direction and the second direction. A second rail(222) is connected to the second linear motion part through a second connection unit and is arranged to the same direction as the first rail.

Description

Electric gripper, automated process equipment including the same and material transfer method using the same {Driving gripper, automatic processing apparatus comprising the same and material transfer method using the same}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric gripper for picking up and transporting materials, and more particularly, to an electric gripper having a means for converting rotational motion into a linear motion and an automated process equipment including the same.

In general, most equipment is automated in the field of semiconductor production and assembly where a high degree of cleanliness and accuracy is required. For example, to manufacture a semiconductor package, a fabrication process of forming a circuit pattern on a wafer, a sawing process of separating the wafer into individual dies, a die bonding process of mounting the die on a substrate, a die and a substrate Numerous processes such as wire bonding process, molding process, and soldering process are required to be performed in sequence. These processes are performed inside the optimized process equipment. Injecting or discharging material, which is a process object, or moving material in the process equipment is mostly performed by an automated transfer device.

In the semiconductor manufacturing process, the material to be processed is transformed into a variety of forms such as wafers, dies, and packages, and thus the shape of the device for transferring the material varies according to the shape of the material.

For example, a die bonding or solder ball mounting process does not perform a die bonding or solder ball mounting process on individual PCBs, and in many cases, a PCB strip (see FIG. 1) or a plurality of PCB substrates formed to increase productivity After the package is loaded on a carrier boat, a PCB strip or a carrier boat is put into the process equipment to perform the corresponding process. Therefore, in this case, the transfer device installed inside the process equipment is designed to pick up or transfer the PCB strip or carrier boat.

FIG. 2 is a plan view showing the solder ball mounting apparatus 100 including such a transfer device, and is a device for attaching solder balls to the rear surface of the PCB strip 10 having completed the die bonding and molding process.

Looking at this, the first and second transfer lines 122 and 124 are disposed in the x-axis direction (horizontal direction in the drawing) in the interior of the housing 110, which is isolated from the outside, respectively. The first and second settling tables 126 and 128 on which the PCB strip 10 is placed are mounted.

The input unit 130, the ball mount unit 140, and the discharge unit 160 are sequentially installed along the x-axis direction on the first and second transfer lines 122 and 124.

The input unit 130 is a first picker 132 and the first picker 132 which vacuum-adsorbs the PCB strip 10 introduced from a loading magazine (not shown) and places it on the first or second settling tables 126 and 128. And a first guide device 134 for guiding movement in the y-axis direction (vertical direction in the drawing). One side of the first picker 132 is provided with a first camera 136 for position control.

The ball mount unit 140 may include a flux tool 142 for applying flux to the back surface of the PCB strip 10, a ball tool 144 for attaching solder balls, the flux tool 142, and the like. And a second guide device 146 for guiding the movement of the ball tool 144 in the y-axis direction.

One side lower portion of the second guide device 146 is provided with a flux supply unit 152 for the flux tool 142, the other side is provided with a ball supply unit 154 for the ball tool 144, the ball tool 144 The second camera 156 is installed at the lower portion of the movement path to determine whether the solder ball is completely adsorbed to the ball tool 144.

Discharge unit 160 is a device for discharging the PCB strip 10 transferred along the first or second transfer line (122, 124) after the ball mounting process is completed. Specifically, the second and second pickers 162 for vacuum-suctioning and transporting the PCB strip 10 from the first and second settle tables 126 and 128 and the third to guide the movement in the y-axis direction of the second picker 162. Guide device 164 is included.

One side of the discharge unit 160 is provided with a third meera 148 to read whether the process defects for the PCB strip 10 is finished in the ball mount unit 140.

In addition, a first pusher 172 for pushing the PCB strip 10 into the equipment from the loading magazine, and an input rail 174 for temporarily placing the PCB strip 10 introduced by the first pusher 172. This is installed.

In addition, the discharge conveyor 194 for transferring the PCB strip 10, which is determined to be good according to the reading result of the third camera 148, to the next process equipment, and the PCB strip 10, which is determined to be defective, are collected. A discharge rail 182 on which the PCB strip 10 picked up by the second picker 162 is temporarily placed, and a second strip for pushing the PCB strip 10 placed on the discharge rail 182 into the carrying out magazine 192. Pusher 184 and the like.

However, in the conventional solder ball mounting apparatus 100, since the first picker 132 and the second picker 162 transfer the PCB strip 10 by vacuum suction, an input rail 174 must be installed in the input area and discharged. The discharge rail 182 should be installed in the area.

Although not shown, in order to install the input rail 174 or the discharge rail 182, a rail support structure is required, and in particular, the input rail 174 moves the PCB strip 10 introduced by the first pusher 172 to the pickup position. Rail drive motors and stoppers are also needed to move them.

As such, the conventional equipment 100 has a very low utilization of the internal space due to the input rail 174 or the discharge rail 182 not directly related to the present process. This results in lowering the design freedom and inevitably increases the volume of the equipment 100.

In addition, in the conventional equipment, when the size of the PCB strip is changed, the first picker 132, the second picker 162, the input rail 174, the discharge rail 182, etc. must be replaced accordingly, thereby increasing the production cost. There is a problem.

Meanwhile, the above-mentioned problem is not limited to the solder ball mounting equipment 100, but the materials are introduced along the input rail and vacuum-adsorbed to the process area, and all kinds of materials are vacuum-absorbed and taken out through the discharge rail. Of automation equipment.

An object of the present invention is to provide a material conveying apparatus that can be used for a variety of materials of various sizes in the automated process equipment, such as semiconductor manufacturing equipment, camera module assembly equipment, etc. to solve such a problem. In addition, the aim is to provide a way to more compact manufacturing of automated process equipment and to increase space utilization.

The present invention, in order to achieve the above object, the first linear motion member and the second linear motion member; Rotary motion means for linearly moving the first linear motion member in a first direction through a rotary motion and simultaneously linearly moving the second linear motion member in a second direction opposite to the first direction; A first rail connected to the first linear motion member by a first connecting means and disposed in a third direction crossing the first direction and the second direction; A second rail connected to the second linear motion member by a second connecting means, the second rail being disposed in the same direction as the first rail, and the first rail and the second rail being rotated by the rotary motion means. Provides an electric gripper for picking up materials by varying the rail spacing.

In the electric gripper, the rotary movement means includes a first pulley rotated by a drive motor, a second pulley installed to be spaced apart from the first pulley, and a driving belt wound around the first pulley and the second pulley. And the first linear motion member and the second linear motion member are spaced apart from each other in the drive belt and face each other in parallel to each other.

In addition, the rotational movement means is a pinion gear rotated by a drive motor, the first linear motion member and the second linear motion member is characterized in that the first rack and the second rack coupled to the opposite side of the pinion gear, respectively. can do.

The first connecting means may include a first connecting plate installed in the same direction as the first rail, and the second connecting means may include a second connecting plate installed in the same direction as the second rail. One end of the first connection plate and one end of the second connection plate are coupled to the first guide means for guiding linear movement, and the other end of the first connection plate and the other end of the second connection plate are the first end. It may be characterized in that the coupling to the second guide means parallel to the first guide means.

The electric gripper may further include a pressing member positioned between the first rail and the second rail; Driving means for elevating the pressing member; And a power transmission means for transmitting the driving force of the driving means to the pressing member, and when the first rail and the second rail operate to place the material on the material placing means, the pressing member is lowered to collect the material. It can be characterized in that the flat pressing.

According to the present invention, since the material introduced into the automated process equipment is directly seated on the rail of the electric gripper, the conventional input rail and related equipment required for driving and supporting the same may be omitted. The discharge rail and related equipment necessary for driving and supporting it can be omitted, since the material seated on the electric gripper can be introduced into the unloading magazine or conveyor even without discharging.

Therefore, by using the electric gripper of the present invention, it is possible to manufacture the automated process equipment more compactly or increase the utilization of the internal space of the equipment.

In addition, since the electric gripper of the present invention can be used universally for various sizes of materials, there is no need to replace related equipment according to the type or size of materials, thereby greatly reducing the production cost.

Hereinafter, with reference to the drawings will be described a preferred embodiment of the present invention; In the following description, a PCB strip including a plurality of units, a carrier boat on which a plurality of units are loaded, as well as a transfer object in a substantially rectangular shape having parallel side ends will be referred to as materials.

First, an electric gripper according to an embodiment of the present invention will be described. As shown in the schematic perspective view of FIG. 3, the electric gripper 200 according to the embodiment of the present invention is installed to face the housing 210 and the exterior of the housing 210 and drive means inside the housing 210. A first rail 221 and a second rail 222 connected to the first rail 221, a first pulley 231 and a second pulley 232 positioned inside the housing 210, and the first pulley. 231 and a driving belt 240 wound around the second pulley 232, and a driving motor 250 for rotating the first pulley 231.

The first and second rails 221 and 222 have insertion grooves 224 formed in the longitudinal direction at opposite side ends thereof. Therefore, two rails 221 and 222 may be directly taken over and transferred to the settling table (see 126 and 128 of FIG. 2), and the material 10 injected into the equipment may be temporarily suspended. The input rail (see 174 of FIG. 2) and associated equipment can be omitted.

Since the first and second rails 221 and 222 of the electric gripper 200 are shown as plate-shaped bodies for reducing the volume of the apparatus, the shape need not be limited to the plate-shaped bodies as shown. However, at least opposite side ends of the rails 221 and 222 should be provided with insertion grooves 224 in which the edges of the material 10 are inserted into the side ends.

Meanwhile, when parts of the driving belt 240 that are spaced apart from each other and defined as the first area and the second area are respectively defined, the first rail 221 is connected to the first area of the driving belt 240 and the second rail 222 is defined. ) Is connected to the second area of the drive belt 240. Therefore, in the electric gripper 200 of the present invention, the distance between the first rail 221 and the second rail 222 varies according to the rotation direction of the first pulley 231, and the PCB strip 10 is gripped by using the same. You can do it or put it down.

The housing 210 is connected to the separate guide device 134 by the guide connecting member 212, and the first and second rails 221 and 222 are provided on the bottom surface of the housing 210 to drive belts inside the housing 210. A through part (not shown) into which a connection member connecting to 240 is inserted is formed.

Hereinafter, the coupling structure of the driving belt 240 and the first and second rails 221 and 222 will be described in more detail with reference to FIG. 4.

First, the first clamp 261 and the second clamp 262 are coupled to the first region 240a and the second region 240b of the driving belt 240, respectively. The first and second clamps 261 and 262 are bolted to each of the sub-members separated from each other with the driving belt 240 interposed therebetween, and are fixed to the driving belt 240. When the driving belt 240 has a predetermined pattern on its surface, it is preferable to increase the clamping force of each of the clamps 261 and 262 by using a sub member that can engage with the pattern.

The first clamp 261 is connected to the first rail 221 by the first connecting means, and the second clamp 262 is connected to the second rail 222 by the second connecting means.

The first connecting means includes a first extension member 263 extending from the first clamp 261 in the direction of the first pulley 231, and a first connection plate 270 coupled to the first extension member 263. The first clamp 261 and the first rail 221 are connected to each other by coupling the first rail 221 to the lower portion of the first connection plate 270. The first extension member 263 and the first connection plate 270 may be integrally manufactured.

The second connection means includes a second extension member 264 extending from the second clamp 262 toward the second pulley 232 and a second connection plate 280 coupled to the second extension member 264. The second clamp 262 and the second rail 222 are connected by coupling the second rail 222 to the lower portion of the second connection plate 280. The second extension member 264 and the second connection plate 280 may be integrally manufactured.

The first connection plate 270 is installed below the first pulley 231 so as to be orthogonal to the installation direction of the driving belt 240, and the center thereof is located below the first pulley 231. As described below, LM blocks of LM guides (not shown) are coupled to both ends of the first connection plate 270, respectively.

The first connection plate 270 may have a rectangular shape, but may be manufactured to have a dumbbell-shaped plane shape as shown in order to reduce materials and reduce load. That is, the first plate 271 and the second plate 272 are respectively provided at both ends, and the first plate 271 and the second plate 272 are connected by a relatively narrow intermediate member 273 The first connection plate 270 may be manufactured. In this case, the first extension member 263 connected to the first clamp 261 is coupled to the upper surface of the first plate 271, and the lower portion of the first plate 271 and / or the second plate 272. The first rail 221 is coupled to. The first rail 221 may be directly coupled to the lower portion of the first plate 271 and / or the second plate 272 or may be coupled via a separate intermediate member.

A plurality of bolt holes 274 are formed in the first plate 271 and the second plate 272 to fasten the guide block of the LM guide (not shown).

The second connection plate 280 has the same shape as the first connection plate 270 described above, and is installed in parallel with the first connection plate 270 at the lower portion of the second pulley 232. That is, the second connection plate 280 has a structure in which the third plate 281 and the fourth plate 282 are connected by a relatively narrow intermediate member 283, and the third plate 281 and the fourth plate are connected. The plate 282 is formed with a plurality of bolt holes 284 for fastening the guide block of the LM guide (not shown). The second rail 222 may be directly coupled to the lower portion of the third plate 281 and / or the fourth plate 282 or may be coupled via a separate intermediate member.

FIG. 5 shows a first LM guide 290a mounted on the first plate 271 and the third plate 281 for the stable operation of the first and second rails 221 and 222, and the second plate 272. And a second LM guide 290b mounted on the fourth plate 282.

Since the first and second LM guides 290a and 290b are composed of the LM block 291 and the LM rail 292, respectively, the LM block 291 is provided in each of the first plate 271 and the third plate 281. When the bolt is fastened and the LM rail 292 is fixed to the housing 210, the first plate 271 and the third plate 281 perform stable horizontal movement by the first LM guide 290a.

In addition, when the LM block 291 is bolted to each of the second plate 272 and the fourth plate 282 and the LM rail 292 is fixed to the housing 210, the second plate 272 and the fourth plate ( 282 has a stable horizontal movement by the second LM guide (290b).

The height and depth of the insertion grooves 224 formed in the first and second rails 221 and 222 may be appropriately determined according to the thickness of the material 10, which is the object to be transferred, or the width of both side ends.

On the other hand, when the electric gripper 200 grips the material 10, the first and second rails 221 and 222 press both ends of the material 10, and the processing error is applied to the material 10 or each rail 221 and 222. If there is an excessive pressure on the material 10, the material 10 may be deformed or an excessive load may be applied to the driving motor 250. Actually, since the depth of the insertion grooves 224 formed in the respective rails 221.222 is only a few mm, it is difficult to prepare for such a risk only by the processing precision.

Therefore, it is necessary to install the elastic means for the machining error in the insertion groove 224. Hereinafter, this will be described with reference to FIGS. 6A and 6B, which are longitudinal cross-sectional views and cross-sectional views, respectively, taken along the line AA ′ of FIG. 3.

As shown, a separate buffer groove 225 is formed on the inner wall of the insertion groove 224, and a spring for imparting elastic force to the buffer member 226 and the buffer member 226 in the buffer groove 225 ( 227) is preferably provided.

Specifically, one end of the shock absorbing member 226 is fixed to the inside of the shock absorbing groove 225 by using the rotation shaft 228, and the other end is installed in the spring insertion groove 229 formed in the shock absorbing groove 225. To a spring 227.

The shock absorbing member 226 is installed so that one side thereof slightly protrudes into the insertion groove 224, and the curved portion of the buffer member 226 protrudes toward the insertion groove 224 to reduce resistance when the PCB strip 10 is inserted. It is preferable. In addition, in order to prevent the alignment state of the material 10 due to the shock absorbing member 226, it is preferable to install two or more shock absorbing members 226 spaced apart from each other in the insertion groove 224.

The material 10 inserted into the insertion groove 224 is subjected to a constant pressure on the side end portion thereof by the buffer member 226, and thus, of course, even if there is some processing error, the shaking of the material 10 is prevented. Excessive load on the drive motor is prevented.

The buffer member 226 may be installed in both the insertion grooves 224 of the first and second rails 221 and 222, but when the elastic force is applied at both side ends of the material 10, the alignment of the material 10 may be disturbed. Since there is a risk, it is preferable to install the shock absorbing member 226 in only one of the first rail 221 or the second rail 222. In this case, for example, the inner wall of the insertion groove 224 of the first rail 221, in which the shock absorbing member 226 is not provided, becomes a reference plane, and the shock absorbing member 226 of the second rail 222 on the opposite side is formed of a material (10). ) To the reference plane can be obtained to align the material (10).

Meanwhile, the elastic means installed in the insertion groove 224 may be implemented as the shock absorbing member 226 and the spring 227 as described above, but if necessary, the shock absorbing groove (ball plunger, torsion spring or rubber block) may be provided. 225 may be implemented.

7A and 7B show the rails 221 and 222 of the electric gripper 200 being opened and closed, respectively. That is, when the driving motor 250 rotates the first pulley 231 in the counterclockwise direction, the rails 221 and 222 move outwards, and the interval is widened. When the driving motor 250 rotates in the clockwise direction, the rails 221 and 222 move inward. The gap is narrowed.

As described above, both side end portions of the material 10 introduced without forming separate insertion grooves 224 in the respective rails 221 and 222 may be mounted on the upper portions of the rails 221 and 222. In this case, the rails 221 and 222 may be manufactured to have L-shaped cross sections, and the inner surfaces of the rails 221 and 222 may support both side ends of the material 10. At this time, the elastic means described above may be provided on the inner surfaces of the rails 221 and 222 to apply elastic force to the side ends of the material 10.

In the above description, the first and second pulleys 231 and 232 and the driving belt 240 are used to adjust the distance between the first rail 221 and the second rail 222. It is not limited. For example, as shown in FIG. 8, the first rack 310 and the second rack 320 are installed in parallel with each other on the opposite sides of the pinion gear 300, and the first rack When the first rail 221 and the second rail 222 are coupled to the 310 and the second rack 320, respectively, the pinion gear 300 is rotated to space the first rail 221 and the second rail 222. Can be adjusted. Alternatively, the rotational motion can be changed to linear motion by using the friction difference without gear biting.

On the other hand, when the material 10 is a substantially rectangular flat plate, as shown in Figure 1 may be somewhat deformed. For example, PCB strips used in solder ball mounting processes must maintain a certain level of flatness for accurate ball mounting processes, and they may bend or bend beyond the tolerances of the previous process (package molding process). have.

Although the first and second settling tables 126 and 128 on which the PCB strips are placed in the solder ball mounting apparatus 100 are provided with vacuum suction means, in practice, the PCB strips are difficult to adsorb only by the vacuum suction input of the settling tables 126 and 128. This bend or bend frequently occurs.

In order to solve this problem, as shown in the side view of Figure 9 and the longitudinal cross-sectional view of Figure 10 pressing member 400 for making a flat pressing the material 10, such as a PCB strip on the electric gripper 200 of the present invention. Can be installed.

The pressing member 400 is a flat plate having a size enough to press the material 10 is located between the first rail 221 and the second rail 222 below the housing 210.

Driving means are required to move up and down the pressing member 400. In the embodiment of the present invention, the driving means 410 for pressing members such as a cylinder and a motor is installed on the upper portion of the housing 210, and predetermined power transmission means is provided. Connect the pressing member driving means 410 and the pressing member 400 using the.

Specifically, the horizontal connecting member 420 is connected to the drive shaft of the driving member 410 for the pressing member, and at least one vertical connecting member 430 is connected to each end of the horizontal connecting member 420, and each vertical The lower end of the connection member 430 and the pressing member 400 are combined.

The horizontal connection member 420 is installed in the same direction as the first and second rails 221 and 222 on the upper portion of the housing 210 and has a length longer than that of the housing 210. Therefore, each vertical connection member 430 is spaced apart from both sides of the housing 210.

The vertical connection member 430 may be a simple rod-shaped connecting rod, but in the embodiment of the present invention, even if excessive force is applied from the driving member 410 for the pressing member, it absorbs the elastic force to prevent breakage of the material 10. The branch uses the connecting means. That is, the vertical connection member 430 according to the embodiment of the present invention is coupled to both ends of the horizontal connection member 420, the guide bushing 431 of a cylindrical shape having a guide groove with an open lower end, and the upper end is the guide A guide rod 432 inserted into the bushing 431 and coupled to the lower end of the bushing 431, and a spring 433 coupled to the lower end of the guide bushing 431 and penetrated by the guide rod 432. Include.

Accordingly, when the driving member 410 for the pressing member is operated to lower the horizontal connecting member 420, the vertical connecting member 430 connected to both ends of the horizontal connecting member 420 and the pressing member 400 connected thereto are also lowered. . Subsequently, after the pressing member 400 touches the material 10, even if the horizontal connecting member 420 continues to descend, the spring 433 is compressed and only its restoring force extends to the pressing member 400.

Meanwhile, the pressing member 400 may be directly mounted on the lower end of each vertical connection member 430, specifically, the lower end of the guide rod 432, but the size of the pressing member 400 is the size of the material 10. As shown in the figure, only the mount plate 450 is fixedly coupled to the lower end of each vertical connection member 430, and the pressing member 400 can be replaced according to the size of the material 10, and the like. It is preferable.

In the present invention, the magnet 452 is installed on the bottom surface of the mount plate 450 so that the pressing member 400 can be easily replaced and combined. In this case, the pressing member 400 is made of metal or a portion corresponding to the magnet. Of course, it should be a metal material.

In addition, the guide pin 454 is provided on the bottom surface of the mount plate 450 for the purpose of accurate positioning at the time of coupling, and the pressing member 400 is provided with a guide groove (not shown) corresponding to the guide pin 454. You may. On the contrary, a magnet and a guide pin may be formed on the pressing member 400, and a guide groove may be formed on the mount plate 450.

Meanwhile, in the embodiment of the present invention, the housing 210 and the pressing member driving means 410 of the electric gripper are mounted on the moving frame 510 which is moved by the electric gripper driving means 500, respectively. Therefore, when the electric gripper 200 moves, the pressing member 400, the pressing member driving means 410, and the like move together.

Hereinafter will be described the automated process equipment equipped with the electric gripper 200 of the present invention. FIG. 10 is a plan view illustrating a solder ball mount device as an example of an automation device, and for the convenience of description, the same reference numerals as FIG. 2 will be used for the same configuration as the conventional art.

First, the electric gripper 200 is moved along the first guide device 134 to inject the material 10 into the equipment, and is waiting in front of a loading magazine (not shown) in which a plurality of materials 10 are loaded. Let's do it. At this time, the first and second rails 221 and 222 of the electric gripper 200 maintain a state in which the distance between the inner wall of the insertion groove 224 is wider than the width of the material 10.

Subsequently, when the first pusher 172 pushes the material 10 out of the loading magazine, both side ends of the material 10 enter the inside of the insertion groove 224 of each rail 221, 222.

When the material 10 is completely inserted into the insertion groove 224, the electric gripper 200 moves the rails 221 and 222 inwards by rotating the first pulley 231 clockwise, for example, to move the material 10 inwards. Align the inside of the insertion groove (224).

The electric gripper 200 holding the material 10 moves to the upper portion of the first or second settling table 126, 128, and then rotates the first pulley 231 counterclockwise so that the first and second rails ( 221, 222 are spread out and the material 10 is placed on top of the first or second settling tables 126,128. In order to prevent misalignment in the process of laying down the material 10, each settable table 126 and 128 is provided with an alignment protrusion (not shown), and an alignment groove (not shown) corresponding thereto is also formed in the material 10. It is preferable to raise the settable tables 126 and 128 or to raise the electric gripper 200 to insert the alignment projections into the alignment grooves.

Subsequently, when the electric gripper 200 moves the first and second rails 221 and 222 apart, the material 10 is placed on the settable tables 126 and 128. If the pressing member 400 is mounted on the electric gripper 200, after the material 10 is placed on the settable tables 126 and 128, the pressing member 400 is lowered to press the material 10 flat and settle. It is preferable to smoothly adsorb the material 10 by using the vacuum adsorption means provided on the tables 126 and 128.

Settle tables 126 and 128 on which material 10 is placed move along the first or second transfer lines 122 and 124 to the process area.

In the process region, the solder ball mounting process is performed by the flux tool 142 and the ball tool 144, and the completed material 10 is transferred to the discharge region along the transfer lines 126 and 128.

The material 10 reaching the discharge area may also be discharged by the electric gripper 200. For example, after waiting for the electric gripper 200 in the discharge area with the first and second rails 221 and 222 open, when the material 10 arrives, the distance between both rails 221 and 222 is narrowed to hold the material 10. can do. Subsequently, the electric gripper 200 is lifted to separate the material 10 from the settling table and transported to the unloading magazine 192 or the conveyor 194.

When discharging to the magazine 192 for carrying out, the second pusher 184 may open the first and second rails 221 and 222 slightly while the electric gripper 220 is positioned in front of the magazine 192 for carrying out. The material 10 is taken out by pushing the 10 directly into the magazine 192 for carrying out. Alternatively, the electric gripper 220 may move directly to the upper portion of the unloading magazine 192 and open the material 10 directly on the unloading magazine 192 by spreading the first and second rails 221 and 222. have. As such, when the electric gripper 200 is used for carrying out, the conventional discharge rail 182 and related facilities may be omitted.

On the other hand, while the solder ball mount equipment has been described a preferred embodiment of the present invention, the embodiment of the present invention is not limited to this, as well as other types of semiconductor manufacturing apparatus, camera module assembly apparatus, flat panel display device (FPD) It can be applied to a wide range of automated process equipment such as manufacturing equipment.

In addition, the present invention is not limited to the above-described embodiments and may be modified or modified in various forms, and if the modified or modified embodiments include the technical idea of the present invention included in the following claims. Naturally, it belongs to the scope of rights.

1 is a diagram illustrating a PCB strip

2 is a plan view of a conventional solder ball mount equipment

3 is a perspective view of an electric gripper according to an embodiment of the present invention;

4 is a view showing a coupling relationship between the drive belt and the rail of the electric gripper;

5 is a view showing a state in which the LM guide is mounted

6A and 6B are side cross-sectional and cross-sectional views of the cushioning member mounted inside the rail.

7a and 7b are views showing the opening and closing process of the rail, respectively

8 shows an electric gripper using a pinion gear and a rack;

9 and 10 are side and longitudinal sectional views showing the electric gripper having a pressing member;

11 is a view illustrating a solder ball mount device equipped with an electric gripper according to an embodiment of the present invention.

* Description of the symbols for the main parts of the drawings *

200: electric gripper 210: housing

221, 222: first and second rail 224: insertion groove

225: buffer groove 226: buffer member

227: spring 228: rotating shaft

229: spring insertion groove 231,232: 1st, 2nd pulley

240: driving belt 261,262: first and second clamp

263, 264: first and second extension members 270: first connection plate

280: second connection plate 271,272: first, second plate

281,282: Third and fourth plates 290a and 290b: First and second guide means

400: pressing member 410: driving means for the pressing member

420: horizontal connecting member 430: vertical connecting member

431: guide bushing 432: guide rod

433: spring 450: mount plate

452: magnet 500: drive means for the electric gripper

Claims (14)

A first linear motion member and a second linear motion member; Rotary motion means for linearly moving the first linear motion member in a first direction through a rotary motion and linearly moving the second linear motion member in a second direction opposite to the first direction; A first rail connected to the first linear motion member by a first connecting means and disposed in a third direction crossing the first direction and the second direction; A second rail connected to the second linear motion member by a second connecting means and disposed in the same direction as the first rail; It includes, The electric gripper for picking up or lowering the material by changing the interval of the first rail and the second rail by the rotational movement of the rotary movement means The method of claim 1, The rotational movement means includes a first pulley rotated by a drive motor, a second pulley installed to be spaced apart from the first pulley, and a driving belt wound around the first pulley and the second pulley. The first linear motion member and the second linear motion member are electric grippers, characterized in that the first region and the second region facing each other in parallel to the spaced apart from the drive belt. The method of claim 1, The rotation means is a pinion gear rotated by a drive motor, And the first linear motion member and the second linear motion member are first and second racks coupled to opposite sides of the pinion gear, respectively. The method of claim 1, The first rail and the second rail each have a gripper in the longitudinal direction in which side end portions of the material are inserted. The method of claim 1, The first rail and the second rail each has a longitudinal insertion groove into which the side end of the material is inserted, At least one of the first rail and the second rail is an electric gripper, characterized in that the elastic means for preventing the shaking of the inserted material and buffer the pressure applied to the material is installed inside the insertion groove The method of claim 5, The elastic means is a buffer member which is partially inserted into the buffer groove formed in the inner wall of the insertion groove protrudes into the insertion groove; A spring member coupled to the buffer member to impart an elastic force; Electric gripper comprising a The method of claim 5, The elastic means is an electric gripper, characterized in that the ball flange, a torsion spring or a rubber block inserted into the buffer groove formed in the inner wall of the insertion groove. The method of claim 1, The first connecting means includes a first connecting plate installed in the same direction as the first rail, the second connecting means includes a second connecting plate installed in the same direction as the second rail, One end of the first connection plate and one end of the second connection plate are coupled to the first guide means for guiding linear movement, The other end of the first connecting plate and the other end of the second connecting plate are coupled to the second guide means parallel to the first guide means. The method of claim 1, A pressing member positioned between the first rail and the second rail; Driving means for elevating the pressing member; Power transmission means for transmitting a driving force of the driving means to the pressing member; And a first rail and the second rail operate to put the material on the material placing means. 10. The method of claim 9, The power transmission means, A horizontal connection member connected to a drive shaft of the driving means and installed in the same direction as the first rail and the second rail; At least one vertical connection member connected to both ends of the horizontal member and having a lower end coupled to the pressing member; Electric gripper comprising a The method of claim 10, The vertical connection member, A guide bushing coupled to both ends of the horizontal connecting member and having a guide groove having a lower end thereof; An upper end portion inserted into the guide groove and a lower end portion coupled to the pressing member; A spring installed at a lower end of the guide bushing and penetrated by the guide rod; And the material is pressed by the restoring force of the spring compressed under the guide bushing when the horizontal connection member is lowered. 10. The method of claim 9, The power transmission means, A horizontal connection member connected to a drive shaft of the driving means and installed in the same direction as the first rail and the second rail; At least one vertical connecting member coupled to both ends of the horizontal connecting member; A mount plate having at least one magnet on a bottom thereof and coupled to a lower end of the vertical connection member; Includes, the pressing member is an electric gripper, characterized in that mounted to the mount plate by the magnetic force of the magnet In the method of transferring the material to the material set-up having a vacuum suction means using the electric gripper of claim 9, (a) inserting the material between the first rail and the second rail; (b) narrowing the distance between the first rail and the second rail to stably hold the material and moving the electric gripper to an upper portion of the material restraint; (c) placing the material on the material stabilizer by spreading the gap between the first rail and the second rail; (d) lowering the pressing member to press and flatten the material to vacuum suction the material using the vacuum suction means; Material transfer method using an electric gripper comprising a An automated process equipment comprising a process region, an input means for inputting materials into the process region, and a discharge means for carrying out materials finished in the process region to the outside, The input means or the discharge means, A first linear motion member and a second linear motion member; Rotary motion means for linearly moving the first linear motion member in a first direction through a rotary motion and linearly moving the second linear motion member in a second direction opposite to the first direction; A first rail connected to the first linear motion member by a first connecting means and disposed in a third direction crossing the first direction and the second direction; A second rail connected to the second linear motion member by a second connecting means and disposed in the same direction as the first rail; And an electric gripper for picking up materials by changing a distance between the first rail and the second rail by a rotational motion of the rotary motion means.

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